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    Biomechanical response of intact, degenerated and repaired intervertebral discs under impact loading – Ex-vivo and In-Silico investigation

    , Article Journal of Biomechanics ; Volume 70 , March , 2018 , Pages 26-32 ; 00219290 (ISSN) Nikkhoo, M ; Wang, J. L ; Parnianpour, M ; El-Rich, M ; Khalaf, K ; Sharif University of Technology
    Elsevier Ltd  2018
    Understanding the effect of impact loading on the mechanical response of the intervertebral disc (IVD) is valuable for investigating injury mechanisms and devising effective therapeutic modalities. This study used 24 porcine thoracic motion segments to characterize the mechanical response of intact (N = 8), degenerated (Trypsin-denatured, N = 8), and repaired (Genepin-treated, N = 8) IVDs subject to impact loading. A meta-model analysis of poroelastic finite element simulations was used in combination with ex-vivo creep and impact tests to extract the material properties. Forward analyses using updated specimen-specific FE models were performed to evaluate the effect of impact duration. The... 

    An extended algorithm for autonomous grasping of soft tissues during robotic surgery

    , Article International Journal of Medical Robotics and Computer Assisted Surgery ; Volume 16, Issue 5 , 2020 , Pages 1-15 Amirkhani, G ; Farahmand, F ; Yazdian, S. M ; Mirbagheri, A ; Sharif University of Technology
    John Wiley and Sons Ltd  2020
    Background: Autonomous grasping of soft tissues can facilitate the robotic surgery procedures. The previous attempts for implementing auto-grasping have been based on a simplistic representation of the actual surgery maneuvers. Method: A generalized three-zone grasp model was introduced to consider the effect of the pull force angulation on the grasp mode, that is, damage, slip, or safe grasp. Also, an extended auto-grasping algorithm was proposed in which the trigger force is automatically controlled against the pull force magnitude and direction, to achieve a safe and secure grasp. Results: The autonomous grasping experiments against a varying pull force in a phantom study indicated a good...