Sharif Digital Repository

Hip replacement surgery is performed with the aim of relieving pain and restoring the normal function of the joint for patients who are in the final stages of arthritis. Standard prostheses offered by implant manufacturers come in a wide variety of models and sizes to meet the needs of patients. However, these commercial prostheses may not be suitable for patients with significant bony abnormalities, leading to implant instability and loosening. In such cases, a suitable solution is to use customized implants that are specifically designed to match the patient's unique anatomy. The purpose of this research was to design a customized cement stem for hip joint replacement surgery in patients... 

Motorized intramedullary nails are a viable solution to treat patients with limb-length inequality. These fully implanted devices use external magnetic actuation to extend. This research examines the conceptual design of this type of nails by investigating various ideas and previous designs. The implant mechanism, body and controller are designed in detail. It was then simulated in standard tests to evaluate it. In addition, the implanted nail undergoes a biomechanical analysis and its stiffness is assessed. Finally, the controller design is carried out using dipole magnetic theory and verified by finite element simulations. As a proof of concept, we made a prototype that is twice the size... 

Flexible cones are one of the latest bone loss treatment methods in the ever-increasing revision total knee arthroplasty. This study is conducted to assess the biomechanical performance of the tibial flexible cellular cones in enhancing the initial stability of the implant system through the analysis of implant micromotion, as well as minimizing stress shielding through the analysis of strain distribution in the bone. The research evaluates the impact of various geometrical variables, including the thickness of the porous wall, the presence, type, width, number, and location of the inner solid wall notches on the spring stiffness and stress distribution of these cones. The research... 

This dissertation focuses on modeling human hand movements post-stroke to understand rehabilitative interventions. The model consists of a multi-layer neural network as the motor cortex in the brain and a two-degree freedom biomechanical model with six muscles for the simulation of hand movement in the horizontal plane. A passive robotic device has been designed and manufactured to record planar hand movements. Movements during reaching tasks have been recorded in 24 chronic stroke patients, as well as 18 healthy subjects, using the robotic device. Statistical analysis of the data showed that movements in a particular direction (NW-SE) are more sensitive to stroke, improve after... 

Human body movements are achieved by activating a number of muscles. It has been shown that the central nervous system (CNS) plays the main role in controlling rhythmic activities (including walking, chewing, etc.). However, the way the central nervous system works in controlling different parts of the body has always been discussed due to the excess degrees of freedom to perform certain tasks. Controlling a group of muscles (under the name of muscle synergy analysis) instead of each one of them has been one of the most attractive and efficient recent ideas to better understand the CNS function. Also, a similar concept can be expressed for kinematic synergies (by the degrees of freedom of... 

The purpose of this project is to design and build a motorized walker with sit to stand ability, by means of which the user can get up from a chair or the edge of the bed and stand with complete independence; Relying on it, the patient could walk easily and finally sit down on the chair, the edge of the bed, or the toilet seat. For this purpose, the conducted researches and previously built devices were studied and the strengths and weaknesses of each were examined. The stages of conceptual design including the design of the sit to stand mechanism, the design of the structure and finally the control algorithm were completed, then the detailed design of the mentioned topics was carried out.... 

Deformity is one of the common diseases of the spine. For example, in the case of scoliosis, which is a three-dimensional deviation in the spine, the prevalence of 2% to 32% among adults has been reported [1]. In case of severe deformity, surgical methods are usually used to correct it. In surgical methods, rods with appropriate curvature are placed next to the spine and the deviation is completely or partially corrected by connecting the vertebrae to said rods. In general, the curvature of the rods is determined based on the clinical indicators of the patient, the tissue fault strength, the stiffness of the soft tissues, the movement limitation of the vertebrae and the level of spinal cord... 

The mechanical interaction of a tilting anchor and cancellous bones of various densities was simulated using finite element modeling. The model enjoyed a sophisticated representation of the bone, as an elasto-plastic material with large deformation capability. The anchor’s tilting action during implantation phase, as well as its fixation stiffness during pull-out test, were predicted by the model, and a parametric study was performed to investigate the effects of the anchor’s distal width, corner fillet radius and bone engagement edge’s coefficient of friction (COF) on these measures. The model predictions were validated against the results of an experimental test on ovine humerus specimens.... 

Every year, a significant number of people around the world suffer from anterior cruciate ligament injury. Rapid and low-cost diagnosis of anterior cruciate ligament injury is important to prevent further complications as well as timely treatment. Due to the disadvantages of each diagnostic methods, the development of alternative methods for diagnosing anterior cruciate ligament injury is still of interest to researchers. Meanwhile, several studies have shown that the kinematics of the knee joint are different for injured and healthy anterior cruciate ligament. Due to the capability of inertial sensors for kinematic measurement of joints, their use to diagnose damaged anterior cruciate... 

Cerebral Palsy is the most common motor disability in childhood. It’s caused by an injury or impaired development of brain. As result, CP children have disability in motor system. All people with cerebral palsy have problem with movement. The symptoms of CP vary from person to person. Therefore, gait analysis was used to investigate those child’s problems and help therapist to find better therapy. Given that, we analyze stance phase of gait cycle of CP children. Also, we calculate and compare variability between traditional development (TD) children and CPs to find a better understanding of how central nerves system (CNS) work. Kinematic Data during walking were collected from 100 CP and TD... 

Loosening of uncemented tibial component is one the most common causes of total knee prosthesis failure which is a result of short-term factors such as instability and incomplete osseointegration as well as long-term factors such as peri-prosthetic stress shielding and bone atrophy. Porous cellular structures for tibial stem have been considered as a solution to this problem. This project is aimed to achieve an optimal gradient porous cellular design of tibial stem that in addition to sufficient mechanical strength, provides a perfect osseointegration and prevents bone resorption by incorporating appropriate porosity size, small micro-motion and favorable stress distribution on bone. A... 

Cerebral palsy (CP) is one the most prevalent neuromusculoskeletal disease amongst children. Damage in the central nervous system (CNS) causes defective growth of the musculoskeletal system during infancy to maturity, then leading to impairment of selective motor control (SMC), spasticity and sometimes contracture of musculotendinous junction. Treatment of Cerebral Palsy is limited to reduce complications. Medical procedures such as neurosurgery and orthopaedic surgeries or rehabilitation used as a common operation. Recently studies in the field of synergy directed a new path to understanding of human motor control complexity besides identification of functionality of musculoskeletal... 

Our body makes use of many degrees of freedom in muscle space. As a result, there are many solutions for activating muscles when performing a specific task. “how our central nervous system (CNS) controls abundant degrees of freedom?” has been a popular question for researchers in the field of motor control since Bernstein. The existence of muscle synergies is one of the proposed hypothesis, and there is experimental evidence that they are encoded in our CNS as building blocks. The aim of this study is to study the effect of training on the number, structures, and activation profiles of muscle synergies that are used for maintaining balance. For this purpose, electromyography data from 28... 

The problem of degrees of freedom states that there are several ways to take advantage of the multiple joints of the body to perform a motor skill. This issue was first raised by Nikolai Bernstein. In previous studies on the Bernstein hypothesis, movement coordination has often been evaluated by calculating variance changes in joint movements and using statistical indicators, and synergy analysis has not been used.In this study, the effect of exercise on balance skills in healthy individuals was investigated using synergy analysis. For this purpose, movement data of 8 healthy individuals were recorded in two sessions before and after exercise while maintaining their balance on the balance... 

In this study, a practical approach for robotic beating heart surgery was proposed. This approach eliminates lateral movements of the heart and compensates for normal heart movement by using 1 DOF heart stabilizer and 1 DOF heart compensator simultaneously. It is a compromise between complete fixation of the heart, which damages the heart tissue, on one hand and complex and impractical compensation of the free heart movement on the other. One of the core components of the proposed system is the slave robot, which includes a 1 DOF compensator and a 4 DOF tool holder robot. Based on the selected laparoscopic tool, a modified agile-eye mechanism for activating the wrist was introduced,... 

One of the most important problems in the field of robotic surgery is the measurement of the laparoscopic instrument Tip force. Many efforts have been made with the use of distal sensors to issues such as high cost and need to be disinfected, but the use of proximal sensors for estimating the Tip force of the tool is very rare, which can improve distal sensor problems.In this project, first, using data obtained from simulating a set-up for the Sina robot, two static MLP, and dynamic NARX neural networks are trained to evaluate the use of machine learning algorithms to determine whether the Tip force neural network can be used. Did the robot estimate Sina's surgeon? Then, by comparing this... 

Knee joint simulation to analyze the process of osteotomy surgery has been studied in several researches and its effectiveness has been shown. However, these models include many components and details that impose significant time and cost on the patient due to the need for multiple data as well as extensive specialized activity to build and analyze the model. Thus, this study aims to provide a practical finite-element patient-specific model for predicting the outcome and planning of knee osteotomy surgery, such a way that it can be made and processed with little data and in a short time, and also requires little specialized activity. For this purpose, first, a detailed model of the knee... 

This study aims to provide a multiscale model of traumatic brain injury including the three levels of macro, meso, and microscale information. In order to do this, a macroscale voxel-baed model of human head was constructed. The model was designed and generated to include mesoscale tissue information as well as a voxel-based approach to include voxel-based microscale data and to be coupled in a multiscale framework. Next, three different microscale models were constructed. The variations of fractional anisotropy within one standard deviation in the regions (including 60% to 70% of voxels) can change the stiffness of the tissue by up to the considerable amount of 40%. The microscale models... 

Varus-Valgus deformity increases local stress in cartilage and the other soft tissues of knee. This phenomenon may adversely influence patient’s walking pattern and also lead to worsen its existing impairments. In this situation, osteotomy is used to modify the alignment of the lower limb. Using CT-scan, radiography data, and their experiences, surgeons quantify the amount of modification. However, in many cases, the surgery does not result in desired output. It seems that the effects of soft tissues, which play an important role in this respect, should be taken into account. In order to design effectively for the osteotomy surgery, it is necessary to develop a patient-specific... 

Diffuse tensor imaging or tractography is a useful method for tracking the axonal tracts pathways within the brain white matter by monitoring the movements of water molecules along the axons. The higher the level of the tissue anisotropy, the more accurate the pathways can be estimated. But in the swelling regions around an edematous tumor, the excess of watery fluid disrupts the directional movement of water molecules, and consequently, the diffuse tensor imaging is unable to track the pathways. This impairment should be resolved by predicting the axontal tracts arrangement in the blind regions of the images using the numerical modeling. To this end, a finite element model of the human...