Fig. 1 Mechanics of an active needle deflection in a two-layer tissue More about this image found in Mechanics of an active needle deflection in a two-layer tissue

Fig. 2 ( a ) Robotic needle insertion system consisting of ( b ) a needle manipulation (actuation) system to pull the tendon and bend the active needle, ( c ) an ultrasound probe and camera mounted on a linear stage for R-AUST of the needle tip in single-layer phantom tissue, and ( d ) a linear st... More about this image found in ( a ) Robotic needle insertion system consisting of ( b ) a needle manipula...

Fig. 3 Active tendon-driven notched needle: ( a ) flexure section, ( b ) insulated flexure section in bent position, ( c )design parameters, and ( d ) bevel-tip active needle More about this image found in Active tendon-driven notched needle: ( a ) flexure section, ( b ) insulated...

Fig. 4 Bevel-tip active needle insertion in a single-layer phantom tissue to a depth of 60 mm: ( a ) estimated (model predicted) needle deflection versus measured needle deflection via R-AUST and ( b ) absolute error in needle deflection prediction More about this image found in Bevel-tip active needle insertion in a single-layer phantom tissue to a dep...

Fig. 1 Placement of sensors on human subjects during data acquisition. The sensors include ( a ) a three-lead ECG, ( b ) three tri-axial accelerometers, ( c ) an electronic stethoscope, and ( d ) a respiration monitor sensor. The connection of the sensors to the data acquisition system (DAQ) is sh... More about this image found in Placement of sensors on human subjects during data acquisition. The sensors...

Fig. 2 Two search windows were defined to determine the indices corresponding to the AO and AC on the SCG signals. These fiducial points were then used to estimate the PEP, LVET, and electromechanical systole (QS2). More about this image found in Two search windows were defined to determine the indices corresponding to t...

Fig. 3 ECG R peak and aortic valve opening and closure estimations on the SCG signals for subject 8. PEP, LVET, and electromechanical systole (QS2) estimations are shown for one cardiac cycle and were calculated similarly for the rest of the signal. More about this image found in ECG R peak and aortic valve opening and closure estimations on the SCG sign...

Fig. 4 Comparison of HR SCG estimations with respect to the gold-standard HR ECG for subject 8 More about this image found in Comparison of HR SCG estimations with respect to the gold-standard HR ECG ...

Fig. 5 Instantaneous pre-ejection period, left ventricular ejection time, and electromechanical systole estimated using the top, middle, and bottom accelerometers for subject 8 More about this image found in Instantaneous pre-ejection period, left ventricular ejection time, and elec...

Fig. 6 Average pre-ejection period, left ventricular ejection time, and electromechanical systole. All CTI estimations of subject 10 as well as the LVET and QS2 estimations of subject 13 were excluded due to inaccuracies in detecting the AO and AC points on the SCG signals. More about this image found in Average pre-ejection period, left ventricular ejection time, and electromec...

Fig. 7 Mean differences of the CTIs estimated from two sensor locations More about this image found in Mean differences of the CTIs estimated from two sensor locations

Fig. 1 3D geometry of two middle cerebral arteries with an aneurysm used in this study. Geometries are obtained from [ 15 ]. While the first geometry involved a small aneurysm, the second one had a larger aneurysm. More about this image found in 3D geometry of two middle cerebral arteries with an aneurysm used in this s...

Fig. 2 ( a ) Fine mesh of Patient 1, ( b ) mesh details, and ( c ) mesh details at the inlet including the five prism layers near the vessel wall More about this image found in ( a ) Fine mesh of Patient 1, ( b ) mesh details, and ( c ) mesh details at...

Fig. 3 Pulsatile inlet blood flow versus dimensionless time, t * . The profile was obtained from Ref. [ 22 ]. More about this image found in Pulsatile inlet blood flow versus dimensionless time, t * . The profile w...

Fig. 4 Velocity profiles along the arterial tree for the models before and after the treatment at t *  = 0, 0.15, 0.25, and 0.5. The geometries were rotated compared to Fig. 1 for better visualization of the velocity profiles. The inlet and aneurysm locations were labeled on the geometries at ... More about this image found in Velocity profiles along the arterial tree for the models before and after t...

Fig. 5 Axial velocity profiles at the bifurcation closest to the aneurysm. The velocity profiles are shown at t *  = 0, 0.15, 0.25, and 0.5. Secondary flow streamlines are plotted using arrows on each cross section. The size of the arrows is independent of the magnitude of the secondary flow. Th... More about this image found in Axial velocity profiles at the bifurcation closest to the aneurysm. The vel...

Fig. 6 Streamlines near the aneurysm site before and after the treatment at t *  = 0. Arrows show the streamlines with larger axial velocity magnitudes in the MCA branches of the geometry with a cerebral aneurysm compared to the geometry without an aneurysm. More about this image found in Streamlines near the aneurysm site before and after the treatment at t * ...