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Motor Units00:46

Motor Units

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A motor unit consists of two main components: a single efferent motor neuron (i.e., a neuron that carries impulses away from the central nervous system) and all of the muscle fibers it innervates. The motor neuron may innervate multiple muscle fibers, which are single cells, but only one motor neuron innervates a single muscle fiber.
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Rocket Propulsion in Empty Space - I01:13

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The driving force for the motion of any vehicle is friction, but in the case of rocket propulsion in space, the friction force is not present. The motion of a rocket changes its velocity (and hence its momentum) by ejecting burned fuel gases, thus causing it to accelerate in the direction opposite to the velocity of the ejected fuel. In this situation, the mass and velocity of the rocket constantly change along with the total mass of ejected gases. Due to conservation of momentum, the...
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Rocket Propulsion in Gravitational Field - I01:20

Rocket Propulsion in Gravitational Field - I

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Rockets range in size from small fireworks that ordinary people use to the enormous Saturn V that once propelled massive payloads toward the Moon. The propulsion of all rockets, jet engines, deflating balloons, and even squids and octopuses are explained by the same physical principle: Newton's third law of motion. The matter is forcefully ejected from a system, producing an equal and opposite reaction on what remains.
The motion of a rocket in space changes its velocity (and hence its...
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Rocket Propulsion in Gravitational Field - II01:03

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A rocket's velocity in the presence of a gravitational field is decreased by the amount of force exerted by Earth's gravitational field, which opposes the motion of the rocket. If we consider thrust, that is, the force exerted on a rocket by the exhaust gases, then a rocket's thrust is greater in outer space than in the atmosphere or on a launch pad. In fact, gases are easier to expel in a vacuum.
A rocket's acceleration depends on three major factors, consistent with the...
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Motor Units01:13

Motor Units

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The motor unit is a fundamental component of the neuromuscular system and plays a crucial role in coordinating muscle contractions. It consists of a somatic motor neuron, which connects and controls multiple skeletal muscle fibers, forming a single functional segment. The axon of the motor neuron branches out and establishes synaptic connections known as neuromuscular junctions with individual muscle fibers within the motor unit.
Motor units come in different sizes, with smaller units...
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Absolute Motion Analysis- General Plane Motion01:24

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Visualize a drone, with its propellers spinning rapidly, hovering mid-air. The fascinating movements and operations of this drone can be comprehended by applying the principle of general plane motion.
As the drone's propellers rotate, an upward force is generated that counteracts the force of gravity, enabling the drone to lift off from the ground. This initial movement of the drone is along a straight path, representing a form of translational motion. In this phase, every point on the...
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Retzius-Sparing Robot-Assisted Radical Prostatectomy
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Towards a Tendon-Driven Robotically Steerable Guidewire with a Retractable Distal Balloon.

C Cloud Barré1, Jaydev P Desai1

  • 1Wallace H. Coulter Department of Biomedical Engineering, Medical Robotics and Automation (RoboMed) Laboratory, Georgia Institute of Technology, Atlanta, GA 30332 USA.

IEEE Robotics and Automation Letters
|August 20, 2025
PubMed
Summary

A novel steerable guidewire features an integrated balloon to protect tissue during minimally invasive procedures. This innovation cushions, stabilizes, and can arrest blood flow, enhancing safety and efficacy in vascular interventions.

Keywords:
Surgical robotics: steerable catheters/needlesmechanism designmedical robots and systems

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Area of Science:

  • Biomedical Engineering
  • Medical Devices
  • Minimally Invasive Surgery

Background:

  • Minimally invasive endovascular and transcatheter procedures rely on guidewires for tool delivery.
  • Existing steerable guidewires pose a risk of tissue damage during vascular navigation.
  • Need for enhanced safety features to prevent complications like distal embolization.

Purpose of the Study:

  • To introduce a methodology for integrating a balloon onto a tendon-driven robotically steerable guidewire.
  • To cushion tissue contact, stabilize the guidewire, and arrest blood flow.
  • To mitigate risks associated with guidewire use in vascular procedures.

Main Methods:

  • Development of a tendon-driven robotically steerable guidewire with an integrated balloon.
  • Modeling of fluid channel effects on joint curvature and hydraulic element inflation.
  • Fabrication via injection molding and integration of a hydraulic pump for balloon actuation.
  • Experimental verification of bending and inflation models.
  • Testing in a phantom vasculature model under pulsatile flow.

Main Results:

  • Successful integration of a balloon onto a steerable guidewire.
  • Accurate experimental verification of bending and inflation models.
  • Demonstrated guidewire traversal, balloon inflation, and blood flow arrest in a simulated vascular environment.

Conclusions:

  • The developed steerable balloon guidewire system offers a promising solution for safer vascular interventions.
  • The integrated balloon effectively cushions tissue, stabilizes the device, and can arrest blood flow.
  • The methodology and models presented are validated for steerable balloon guidewire systems.