Sharif Digital Repository

This thesis is about multidisciplinary design optimization of MRI ¬controlled robots with a nonlinear model approach in the cardiovascular system and simulates its behavior to reach cancer cells. Such robots, designed to perform medical procedures with minimal side effects to the patient, include a set of ferromagnetic nanoparticles attached to the polymer and disposable drugs such as cancer drugs.The disciplines considered in this issue include structure, hydrodynamics, propulsion, controllability, and trajectory. The proposed model in this study, in addition to the main forces acting on the robot such as magnetic force, hydrodynamics, and apparent weight, also examines other forces due to... 

In Former research we determinate elastic response of Brazilian Test of transversely Isotropic material . In Bio-mechanic science surveying mechanical properties and modeling biological organ such as bone , tooth and bio-material such as titanium, zirconium with application in joint replacement is very important . One of method to determine properties of bio-material which mostly has transversely Isotropic behavior is Brazilian Test. Also most rocks has transversely Isotropic behavior, so choosing efficient test is so important. In current issue , load apply in limited area and it is also considered friction in area of jaw loading area .By use of displacement potential function ... 

Distal humerus fractures commonly take place in adults with low bone mineral density causing major technical challenges upon orthopedic surgeons. Persian fixation method was introduced as a novel technique to stabilize small fragments in comminuted distal humerus fractures using a set of K-wires and reconstruction plate. The objective of the present study is to measure the stiffness and stability of this technique and analyze the effect of influential parameters with numerical simulation and biomechanical testing on a cadaveric specimen. Furthermore, we were able to propose new method to model plastic deformation of implants in surgery.Validation of the finite element (FE) model was... 

Background: Degeneration of intervertebral joints due to kinetical alterations after fusion surgery is a prevalent back disorder. While in-vivo studies are limited to medical imaging techniques, in-vitro and in-silico (passive FE modeling) investigations lack the crucial role of muscle forces. Available musculoskeletal modeling studies, not only suffer oversimplification of intervertebral joints, but have some shortcomings in incorporation of the contributing factors (that may alter postoperative kinetics). On the other hand, one of the main shortcomings in the available musculoskeletal models is their inability to account for dynamic effects and modeling transient events. Purpose: 1-... 

We have recently designed/fabricated novel bilateral vertebra- and patient-specific drill guides for pedicle screw (PS) placements and tested their accuracy for both nondeformed and deformed thoracic spines. PS placement deviations from their preplanned positions significantly reduced when guide template were used; the success rate improved from ~72% (freehand placements) to 94% (guided placements). In the present study, we aim to use finite element (FE) analyses to evaluate the pull-out strength of these PSs inserted via either the freehand technique or our drill-guide templates. Two 3D-printed T1-T12 thoracic models of a severe scoliosis patient with a 47° thoracic dextro-scoliotic curve... 

According to epidemiological studies, low back pain is the most prevalent musculoskeletal disease thus indicating the important role of biomechanical engineers to manage risk of injury. Different quantitative (i.e., biomechanical models) and qualitative (empirical) assessment tools are used to evaluate risk of musculoskeletal injuries. The present study uses various quantitative and qualitative risk assessment tools to investigate the risk of injury among workers in Iran Khodro Automaker company (IKCO) assembly hall No. 3 (Pars Peugeot car assembly). Moreover, different engineering and administrative interventions are suggested to manage risk of musculoskeletal injuries when needed. The... 

Nowadays, the use of vehicles is inevitable for all people including pregnant females. Vehicle vibrations during passing road bumps and holes is one of the pregnant females’ concerns. The aim of the present study is to develop a biomechanical model of a Uterus and Fetus Set (UFS) to evaluate its response to the inferior excitation, caused by the vehicle passing over speed bumps. The most important innovation of this research is "Analysis of the effect of vehicle speed and speed bumps characteristics on the risk of injury to the fetus." "Modeling the pregnant uterus complex separately from other abdominal organs", "Biomechanical modeling based on CT scan data from a real subject", "Providing... 

Objective: To assess adequacy of the National Institute for Occupational Safety and Health (NIOSH) Lifting Equation (NLE) in controlling lumbar spine loads below their recommended action limits during load-handling activities in the stoop and squat using a detailed musculoskeletal model,that is, the AnyBody Modeling System.Background: The NIOSH committee employed simplistic biomechanical models for the calculation of the spine compressive loads with no estimates of the shear loads. In addition, NLE does not include the posture of the knee during manual material handling. It is therefore unknown whether the NLE would adequately control lumbar compression and shear loads below their... 

Heart failure is one of the leading causes of death around the world and diastolic dysfunction is the main culprit behind about 30 percent of them. End-diastolic pressure-volume relationship is one of the most important indices of ventricles diastolic function, however invasive nature of assessment, has hindered its use in clinical applications. Despite the advances in computational modeling and bio-mechanical simulations, computational cost of these procedures often renders the computational methods unsuitable for clinical implications. Machine learning methods are usually the proper substitute in such cases. However, this method requires a large set of pre-calculated data for training,... 

Parkinson's disease, after Alzheimer's, is the most important and common progressive neurodegenerative disorders. There are various methods for assessing the quality of patients’ movements. One of them is biomechanical methods. The application of these methods in telerehabilitation has been considered by many researchers. Telerehabilitation improves the efficiency of the therapists and reduces problems such as commute costs, traffic stress, and patient fatigue.In the present study, 21 Parkinson patients were treated and evaluated remotely using SANA system. This study aimed to investigate the effects of the therapist absence during the tele-assessment and its impact on the validity and... 

BASHTI is a new implant-less ACL reconstruction surgery which has recently been considered for its advantages. This study aimed to investigate the effects of tendon and cannulated drill bit diameter on the BASHTI fixation strength and core bone engaged length (CBEL) in an anterior cruciate ligament (ACL) reconstruction. It is believed that CBEL may affect both bone healing process and fixation strength in this technique. Bovine digital tendons and Sawbones blocks were used to mimic the ACL reconstruction. Tendons were sized to 6, 7, 8, 9, and 10 mm and the hole size for the 6-9 mm tendons was set to 10 mm while for the 10 mm tendon was set to 12 mm. Mechanical strength of the specimens was... 

Low back pain is one of the most prevalent musculoskeletal injuries in occupational activities. In order to reduce or prevent it, it is necessary to estimate the mechanical loads of body joints. Direct measurement of spinal loads is invasive and costly. Therefore, musculoskeletal modeling is a convenient tool in estimation of joints and muscles loads that often uses kinematics information as input.Marker-based motion capture systems are one of the most common ways for the estimation of body kinematics. Unfortunately, they are time consuming and expensive. Thus being marker-free and low-cost, Microsoft Kinect is a suitable alternative. Recent studies often have investigated accuracy of... 

Parkinson's disease is the most common progressive neurological disorder after Alzheimer, which is associated with motor disabilities. One of the most effective ways to improve patient’s condition with this disease, is rehabilitation.Assessment of the patient during rehabilitation is very important in order to give a better understanding of patient's status to the specialist, but qualitative assessment methods in traditional rehabilitation are ineffective in fast and accurate evaluation of the patient's condition; and because of their need for patient’s attendance in clinic, they will incur huge medical costs. Therefore, the purpose of the present study is to present a quantitative method to... 

Eye and vision are the most important tools and the perceptual sense of human. This important vital member is one of the most vulnerable organs of human body. For example in the United States 1.9 million eye surgery are being done yearly which include 9 thousand globe rupture and 30 thousand blindness due to impacts on the eye. Eye traumas could have occurred as mechanical, radiation, thermal, chemical, etc. among these, the damages related to the airbag impact which is subset of mechanical damages, take a significant percentage. Presenting a model of human eye in car airbag blunt impacts during accident could be effective for receiving helpful information from damage of the internal parts... 

Nowadays, Eye injuries caused by blunt impacts are considered among the major causes of blindness and vision problems; therefore, studying the existence of possible damages can be quite useful and effective. One of the quickest and most suitable methods in identifying damage parameters is finite-element modeling of the human eye. In this regard, in the current study, first a geometrical design was created by incorporating CT-Scan images of the eye into Mimics and later Solid works software. Afterwards, the most suitable mechanical properties for the constituents of the eye were extracted from the literature. The mechanical properties of vitreous and Sclera were obtained by experimental... 

Obesity is a worldwide growing health challenge affecting ~30% of the world's population. Increased rate of disc degeneration and herniation, low back pain and surgery has been reported in obese individuals. Although obesity-related low back diseases have multifactorial etiology, presumably greater mechanical loads on the spine of heavier individuals during their daily activities may be considered as a risk factor. Likely larger trunk muscle sizes, disc sizes and thus passive stiffness in heavier individuals may however partly or fully offset the effect of their additional body weight on the spinal loads. In absence of in vivo approaches, the present study aims to construct subject-specific... 

Obesity is a worldwide growing health challenge affecting ~30% of the world's population. Increased rate of disc degeneration and herniation, low back pain and surgery has been reported in obese individuals. Although obesity-related low back diseases have multifactorial etiology, presumably greater mechanical loads on the spine of heavier individuals during their daily activities may be considered as a risk factor. Likely larger trunk muscle sizes, disc sizes and thus passive stiffness in heavier individuals may however partly or fully offset the effect of their additional body weight on the spinal loads. In absence of in vivo approaches, the present study aims to construct subject-specific... 

The 1991 NIOSH Lifting Equation (NLE) is widely used to assess the risk of injury to the spine by providing estimates of the recommended weight limit (RWL) in hands. The present study uses the AnyBody modeling software to verify whether the RWL generates L5-S1 within the limits (e.g., 3400 N for compression recommended by NIOSH and 1000 N for shear recommended in the literature). Twenty-four symmetric and asymmetric lifting activities were simulated to evaluate the RWL by the NLE and the L5-S1 loads by AnyBody. In two activities, involving large trunk flexion and 30 and 60 degrees of load asymmetry, the estimated RWL generated L5-S1 spine loads exceeding the recommended limits. The NIOSH... 

Quantitative motion quality evaluation has been always of much significance for CVA patients, especially the HCP ones. The purpose of the present study is to introduce and analyze the efficiency of a novel index, namely “Consumed Energy Index”, for evaluating the quality of the motions performed by HCP patients. For this purpose, Firstly, a Musculo-Skeletal model of the human arm was provided on Matlab and OpenSim softwares, with four DoFs: three DoFs at shoulder and one DoF at elbow joint as well as eight muscles. The muscles are in pairs of flexor-extensor at each DoF. The model is capable of receiving Cartesian trajectories for joints and solving inverse kinematics and dynamics to obtain... 

Most elderly and physically disabled people suffer from lack of functionality and dexterity in their elbow or wrist. These disabilities are due to the damages mostly caused by sport surgery, spinal surgery, or stroke. Therefore, design of an assistive exoskeleton robot for upper limb movements seems necessary. The purpose of this study is to design, fabricate and deliver a control algorithm for an assistive wearable robot. The robot has five degrees of freedom in order to help the flexion/extension and abduction/adduction shoulder. Dynamic and kinematic model of elbow, forearm, and wrist is developed to determine the amounts of torques which are required in the joint actuators mounted on the...