document

A review on machine learning in flexible surgical and interventional robots: Where we are and where we are going

Wu, D. (author), Zhang, R. (author), Pore, Ameya (author), Ha, Xuan Thao (author), Li, Z. (author), Herrera, Fernando (author), Kowalczyk, Wojtek (author), De Momi, Elena (author), Dankelman, J. (author), Kober, J. (author)

Minimally Invasive Procedures (MIPs) emerged as an alternative to more invasive surgical approaches, offering patient benefits such as smaller incisions, less pain, and shorter hospital stay. In one class of MIPs, where natural body lumens or small incisions are used to access deeper anatomical locations, Flexible Surgical and Interventional...

review 2024

document

Loneliness and vertical and horizontal collectivism and individualism: A multinational study

Schermer, Julie Aitken (author), Branković, Marija (author), Čekrlija, Đorđe (author), MacDonald, Kristi Baerg (author), Park, Joonha (author), Papazova, Eva (author), Volkodav, Tatiana (author), Iliško, Dzintra (author), Wlodarczyk, Anna (author), Kwiatkowska, Maria Magdalena (author), Rogoza, Radosław (author), Oviedo-Trespalacios, O. (author), Ha, Truong Thi Khanh (author), Kowalski, Christopher Marcin (author), Malik, Sadia (author), Lins, Samuel (author), Navarro-Carrillo, Ginés (author), Aquino, Sibele D. (author), Doroszuk, Marta (author), Riđić, Ognjen (author), Pylat, Natalia (author), Özsoy, Emrah (author), Tan, Chee Seng (author), Mamuti, Agim (author), Ardi, Rahkman (author), Jukić, Tomislav (author), Uslu, Osman (author), Buelvas, Laura Martinez (author), Liik, Kadi (author), Kruger, Gert (author)

This paper investigates how horizontal and vertical individualism and collectivism predict self-report loneliness in addition to the variance accounted for by age and sex in 28 countries (N = 8,345). Horizontal and vertical aspects of individualism and collectivism had small but significant contributions to predicting loneliness. Horizontal...

journal article 2023

document

Sensor Fusion for Shape Reconstruction Using Electromagnetic Tracking Sensors and Multi-Core Optical Fiber

Ha, Xuan Thao (author), Wu, D. (author), Ourak, Mouloud (author), Borghesan, Gianni (author), Menciassi, Arianna (author), Poorten, Emmanuel Vander (author)

Optical fiber-based shape sensing is gaining popularity in cardiac catheterization lately. Typically, these procedures are taking place under the guidance of fluoroscopy. However, fluoroscopy has several disadvantages. Thanks to fiber optic shape sensing and Electromagnetic Tracking (EMT), the 3D catheter shape can now be tracked in real-time...

journal article 2023

document

Shape Sensing of Flexible Robots Based on Deep Learning

Ha, Xuan Thao (author), Wu, D. (author), Ourak, Mouloud (author), Borghesan, Gianni (author), Dankelman, J. (author), Menciassi, Arianna (author), Poorten, Emmanuel Vander (author)

In this article, a deep learning method for the shape sensing of continuum robots based on multicore fiber bragg grating (FBG) fiber is introduced. The proposed method, based on an artificial neural network (ANN), differs from traditional approaches, where accurate shape reconstruction requires a tedious characterization of many...

journal article 2023

document

Fusion Framework for Coaxial Catheter Tracking

Ha, Xuan Thao (author), Wu, D. (author), Trauzettel, F. (author), Ourak, Mouloud (author), Borghesan, Gianni (author), Menciassi, Arianna (author), Poorten, Emmanuel Vander (author)

Minimally invasive catheter-based interventions normally take place under the guidance of fluoroscopy. However, fluoroscopy is harmful to both patients and clinicians. Moreover, it only offers 2-D shape visualization of flexible devices. To solve the problem of harmful radiation and offer 3-D pose and shape information, recent studies propose...

journal article 2023

document

Deep-Learning-Based Compliant Motion Control of a Pneumatically-Driven Robotic Catheter

Wu, D. (author), Ha, Xuan Thao (author), Zhang, Yao (author), Ourak, Mouloud (author), Borghesan, Gianni (author), Niu, Kenan (author), Trauzettel, F. (author), Dankelman, J. (author), Menciassi, Arianna (author), Poorten, Emmanuel Vander (author)

In cardiovascular interventions, when steering catheters and especially robotic catheters, great care should be paid to prevent applying too large forces on the vessel walls as this could dislodge calcifications, induce scars or even cause perforation. To address this challenge, this paper presents a novel compliant motion control algorithm...

journal article 2022

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Hybridizing Hypervolume-Based Evolutionary Algorithms and Gradient Descent by Dynamic Resource Allocation

Ha, Damy M.F. (author), Deist, Timo M. (author), Bosman, P.A.N. (author)

Evolutionary algorithms (EAs) are well-known to be well suited for multi-objective (MO) optimization. However, especially in the case of real-valued variables, classic domination-based approaches are known to lose selection pressure when approaching the Pareto set. Indicator-based approaches, such as optimizing the uncrowded hypervolume (UHV)...

conference paper 2022

document

Contact Localization of Continuum and Flexible Robot Using Data-driven Approach

Ha, Xuan Thao (author), Wu, D. (author), Lai, C. (author), Ourak, Mouloud (author), Borghesan, Gianni (author), Menciassi, Arianna (author), Vander Poorten, Emmanuel (author)

Continuum robots such as robotic catheters are increasingly being used in minimally invasive surgery. Compliance contributes to enhanced safety during e.g. catheter insertion, however, estimation of contact force and location may help clinicians avoiding exerting excessive force. Ultimately this could lead to faster and safer interventions....

journal article 2022

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Deep-learning-based Position Control of a Robotic Catheter under Environmental Contact

Wu, D. (author), Zhang, Yao (author), Ourak, Mouloud (author), Ha, Xuan Thao (author), Niu, Kenan (author), Dankelman, J. (author), Poorten, Emmanuel Vander (author)

Precise control of robotic catheters remains challenging in interventions. Inherent non-linearities such as hysteresis and external disturbances such as blood flow or contact with the vessel walls have a large impact on the reachable positioning precision. As inaccurate positioning of the catheter tip could lead to tissue damage, controllers...

conference paper 2022

document

Humor Styles Are Related to Loneliness Across 15 Countries

Schermer, Julie Aitken (author), Rogoza, Radosław (author), Branković, Marija (author), Oviedo-Trespalacios, O. (author), Volkodav, Tatiana (author), Ha, Truong Thi Khanh (author), Kwiatkowska, Maria Magdalena (author), Papazova, Eva (author), Park, Joonha (author), Kowalski, Christopher Marcin (author), Doroszuk, Marta (author), Iliško, Dzintra (author), Malik, Sadia (author), Lins, Samuel (author), Navarro-Carrillo, Ginés (author), Torres-Marín, Jorge (author), Wlodarczyk, Anna (author), Aquino, Sibele D. (author), Krammer, Georg (author)

The relationships between self-report loneliness and the four humor styles of affiliative, aggressive, self-defeating, and self-enhancing were investigated in 15 countries (N = 4,701). Because loneliness has been suggested to be both commonly experienced and detrimental, we examine if there are similar patterns between humor styles, gender, and...

journal article 2022

document

Versatile Multilayer Metamaterial Nanoparticles with Tailored Optical Constants for Force and Torque Transduction

Tang, Y. (author), Ha, S. (author), Begou, Thomas (author), Lumeau, Julien (author), Urbach, Paul (author), Dekker, N.H. (author), Adam, A.J.L. (author)

The ability to apply force and torque directly to micro- and nanoscale particles in optical traps has a wide range of applications. While full control of both force and torque in three dimensions has been realized using top-down fabrication of rod-shaped particles composed of birefringent crystalline materials, widespread usage of such...

journal article 2020

document

Single-Crystal Rutile TiO ₂ Nanocylinders are Highly Effective Transducers of Optical Force and Torque

Ha, S. (author), Tang, Y. (author), van Oene, M.M. (author), Janissen, R. (author), Dries, R.M. (author), Solano Hermosilla, B.P. (author), Adam, A.J.L. (author), Dekker, N.H. (author)

Optical trapping of (sub)micron-sized particles is broadly employed in nanoscience and engineering. The materials commonly employed for these particles, however, have physical properties that limit the transfer of linear or angular momentum (or both). This reduces the magnitude of forces and torques, and the spatiotemporal resolution,...

journal article 2019

document

Advancing single-molecule instrumentation through nanoscale optics, fabrication, and surface functionalization

Ha, S. (author)

This thesis describes developments in the single-molecule instrumentation, in particular optical torque wrench and DNA nanocurtains, with the goal of employing these techniques in studies of biomolecules and biomotors. Importantly, the use of single-crystal rutile titanium dioxide nanocylinders is suggested for optical torque wrench, enabling...

doctoral thesis 2018

document

Quantifying the Precision of Single-Molecule Torque and Twist Measurements Using Allan Variance

van Oene, M.M. (author), Ha, S. (author), Jager, T. (author), Lee, M. (author), Pedaci, F. (author), Lipfert, J. (author), Dekker, N.H. (author)

Single-molecule manipulation techniques have provided unprecedented insights into the structure, function, interactions, and mechanical properties of biological macromolecules. Recently, the single-molecule toolbox has been expanded by techniques that enable measurements of rotation and torque, such as the optical torque wrench (OTW) and...

journal article 2018

document

Tunable top-down fabrication and functional surface coating of single-crystal titanium dioxide nanostructures and nanoparticles

Dekker, N.H. (author), Ha, S. (author), Janissen, R. (author), Ussembayev, Y. (author), van Oene, M.M. (author), Solano Hermosilla, B.P. (author)

Titanium dioxide (TiO2) is a key component of diverse optical and electronic applications that exploit its exceptional material properties. In particular, the use of TiO2 in its single-crystalline phase can offer substantial advantages over its amorphous and polycrystalline phases for existing and yet-to-be-developed applications. However, the...

journal article 2016

document

TUT7 controls the fate of precursor microRNAs by using three different uridylation mechanisms

Kim, B. (author), Ha, M. (author), Loeff, L. (author), Chang, H. (author), Simanshu, D.K. (author), Li, S. (author), Fareh, M. (author), Patel, D.J. (author), Joo, C. (author), Kim, V.N. (author)

Terminal uridylyl transferases (TUTs) function as integral regulators of microRNA (miRNA) biogenesis. Using biochemistry, single-molecule, and deep sequencing techniques, we here investigate the mechanism by which human TUT7 (also known as ZCCHC6) recognizes and uridylates precursor miRNAs (pre-miRNAs) in the absence of Lin28. We find that the...

journal article 2015

document

Distinct mechanisms regulating mechanical force-induced Ca2+ signals at the plasma membrane and the ER in human MSCs

Kim, T.J. (author), Joo, C. (author), Seong, J. (author), Vafabakhsh, R. (author), Botvinick, E.L. (author), Berns, M.W. (author), Palmer, A.E. (author), Wang, N. (author), Ha, T. (author), Jakobsson, E. (author), Sun, J. (author), Wang, Y. (author)

It is unclear that how subcellular organelles respond to external mechanical stimuli. Here, we investigated the molecular mechanisms by which mechanical force regulates Ca2+ signaling at endoplasmic reticulum (ER) in human mesenchymal stem cells. Without extracellular Ca2+, ER Ca2+ release is the source of intracellular Ca2+ oscillations induced...

journal article 2015

document

Dynamic Growth and Shrinkage Govern the pH Dependence of RecA Filament Stability

Kim, S.H. (author), Park, J. (author), Joo, C. (author), Kim, D. (author), Ha, T. (author)

RecA proteins form a long stable filament on a single-stranded DNA and catalyze strand exchange reaction. The stability of RecA filament changes dramatically with pH, yet its detailed mechanism is not known. Here, using a single molecule assay, we determined the binding and dissociation rates of RecA monomers at the filament ends at various pH....

journal article 2015

document

Distinct mechanisms regulating mechanical force-induced Ca2+ signals at the plasma membrane and the endoplasmic reticulum in human mesenchymal stem cells

Kim, SH (author), Joo, C. (author), Seong, A (author), Vafabakshsh, A (author), Botvinick, A (author), Berns, A (author), Palmer, TA (author), Wang, Z. (author), Ha, Seungkyu (author), Jakobsson, ME (author), Sun, M (author)

It is unclear that how subcellular organelles respond to external mechanical stimuli. Here, we investigated the molecular mechanisms by which mechanical force regulates Ca2+ signaling at endoplasmic reticulum (ER) in human mesenchymal stem cells. Without extracellular Ca2+, ER Ca2+ release is the source of intracellular Ca2+ oscillations induced...

journal article 2015

document

Molecular mechanism of sequence-dependent stability of RecA filament

Kim, S.H. (author), Joo, C. (author), Ha, T. (author), Kim, D. (author)

A is a DNA-dependent ATPase and mediates homologous recombination by first forming a filament on a single-stranded (ss) DNA. RecA binds preferentially to TGG repeat sequence, which resembles the recombination hot spot Chi (5'-GCTGGTGG-3') and is the most frequent pattern (GTG) of the codon usage in Escherichia coli. Because of the highly dynamic...

journal article 2013