Non-invasive fetal electrocardiograms (FECGs) are an alternative method to standard means of fetal monitoring which permit long-term continual monitoring. However, in abdominal recording, the FECG amplitude is weak in the temporal domain and overlaps with the maternal electrocardiogram (MECG) in the spectral domain. Research in the area of non-invasive separations of FECG from abdominal electrocardiograms (AECGs) is in its infancy and several studies are currently focusing on this area. An adaptive noise canceller (ANC) is commonly used for cancelling interference in cases where the reference signal only correlates with an interference signal, and not with a signal of interest. However, results from some existing studies suggest that propagation of electrocardiogram (ECG) signals from the maternal heart to the abdomen is nonlinear, hence the adaptive filter approach may fail if the thoracic and abdominal MECG lack strict waveform similarity. In this study, singular value decomposition (SVD) and smooth window (SW) techniques are combined to build a reference signal in an ANC. This is to avoid the limitation that thoracic MECGs recorded separately must be similar to abdominal MECGs in waveform. Validation of the proposed method with r01 and r07 signals from a public dataset, and a self-recorded private dataset showed that the proposed method achieved F1 scores of 99.61%, 99.28% and 98.58%, respectively for the detection of fetal QRS. Compared with four other single-channel methods, the proposed method also achieved higher accuracy values of 99.22%, 98.57% and 97.21%, respectively. The findings from this study suggest that the proposed method could potentially aid accurate extraction of FECG from MECG recordings in both clinical and commercial applications.

Snake-like robot is an emerging form of serial-link manipulator with the morphologic design of biological snakes. The redundant robot can be used to assist medical experts in accessing internal organs with minimal or no invasion. Several snake-like robotic designs have been proposed for minimal invasive surgery, however, the few that were developed are yet to be fully explored for clinical procedures. This is due to lack of capability for full-fledged spatial navigation. In rare cases where such snake-like designs are spatially flexible, there exists no inverse kinematics (IK) solution with both precise control and fast response. In this study, we proposed a non-iterative geometric method for solving IK of lead-module of a snake-like robot designed for therapy or ablation of abdominal tumors. The proposed method is aimed at providing accurate and fast IK solution for given target points in the robot’s workspace. n-1 virtual points (VPs) were geometrically computed and set as coordinates of intermediary joints in an n-link module. Suitable joint angles that can place the end-effector at given target points were then computed by vectorizing coordinates of the VPs, in addition to coordinates of the base point, target point, and tip of the first link in its default pose. The proposed method is applied to solve IK of two-link and redundant four-link modules. Both two-link and four-link modules were simulated with Robotics Toolbox in Matlab 8.3 (R2014a). Implementation result shows that the proposed method can solve IK of the spatially flexible robot with minimal error values. Furthermore, analyses of results from both modules show that the geometric method can reach 99.21 and 88.61% of points in their workspaces, respectively, with an error threshold of 1 mm. The proposed method is non-iterative and has a maximum execution time of 0.009 s. This paper focuses on solving IK problem of a spatially flexible robot which is part of a developmental project for abdominal surgery through minimal invasion or natural orifices. The study showed that the proposed geometric method can resolve IK of the snake-like robot with negligible error offset. Evaluation against well-known methods shows that the proposed method can reach several points in the robot’s workspace with high accuracy and shorter computational time, simultaneously.

We propose a flexible, dry, and antibacterial electrode with a low and stable skin electrode contact impedance for bio-potential signal monitoring. We fabricated a bacterial cellulose/polyaniline/AgNO ₃ nanocomposite membrane (BC/PANI/AgNO ₃ ) and used it for bio-potential signal monitoring. The bacterial cellulose (BC) provides a 3-D nanoporous network structure, and it was used as a substrate material in the BC/PANI/AgNO ₃ nanocomposite membrane. Polyaniline (PANI) and AgNO ₃ , acting as conductive and antibacterial components, respectively, were polymerized and deposited on the surfaces of BC nanofibers to produce uniform thin film membrane with flexible, antibacterial, and conductive properties. Various measurements were conducted, in terms of antibacterial activity, skin electrode contact impedance, and qualitative analysis of ECG signal recordings. The BC/PANI/AgNO ₃ membrane revealed 100% antibacterial activities against both the Staphylococcus aureus and Escherichia coli bacteria. The skin electrode contact impedance of the proposed BC/PANI/AgNO ₃ electrode is lower than that of the Ag/AgCl gel electrode, with the same active area. In addition, the electrocardiogram (ECG) signals acquired with the proposed electrodes have stable characteristic waveforms, and they are not contaminated by noise. The waveform fidelity of the BC/PANI/AgNO ₃ membrane electrodes over 800 ECG cardiac cycles is 99.49%, and after the electrodes were worn for 24 hours, a fidelity of 98.40% was recorded over the same number of cardiac cycles. With the low and stable skin electrode contact impedance, the proposed dry BC/PANI/AgNO ₃ membrane electrode provided high fidelity for ECG signal recordings, thus offering a potential approach for bio-potential signal monitoring. With the above benefits, the novel flexible and dry BC/PANI/AgNO ₃ electrode has a significant antibacterial. Most of all, it is the first research to develop antibacterial in the electrode design.