Mark G. Davies Alan B. Lumsden William E. Kline Ioannis Kakadiaris Editors. Pumps and Pipes. Proceedings of the Annual Conference

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1 Pumps and Pipes

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3 Mark G. Davies Alan B. Lumsden William E. Kline Ioannis Kakadiaris Editors Pumps and Pipes Proceedings of the Annual Conference

4 Editors Mark G. Davies Methodist DeBakey Heart and Vascular Center The Methodist Hospital 6550 Fannin Street Houston, TX 77030, USA Alan B. Lumsden Methodist DeBakey Heart and Vascular Center The Methodist Hospital 6550 Fannin Street Houston, TX 77030, USA William E. Kline ExxonMobil Upstream Research Company Houston, TX, USA Ioannis Kakadiaris Department of Computer Science University of Houston Houston, TX, USA ISBN e-isbn DOI / Springer New York Dordrecht Heidelberg London Library of Congress Control Number: Springer Science+Business Media, LLC 2011 All rights reserved. This work may not be translated or copied in whole or in part without the written permission of the publisher (Springer Science+Business Media, LLC, 233 Spring Street, New York, NY 10013, USA), except for brief excerpts in connection with reviews or scholarly analysis. Use in connection with any form of information storage and retrieval, electronic adaptation, computer software, or by similar or dissimilar methodology now known or hereafter developed is forbidden. The use in this publication of trade names, trademarks, service marks, and similar terms, even if they are not identified as such, is not to be taken as an expression of opinion as to whether or not they are subject to proprietary rights. Printed on acid-free paper Springer is part of Springer Science+Business Media (

5 Contents Pumps and Pipes: The Concept... xi Part I Collaboration and Solution 1 Pipeline to Circulation: The Story of the Kimray Greenfield Inferior Vena Caval Filter... Mark G. Davies 3 Part II Automation and Robotics 2 Oilfield Automation... Rustom K. Mody and Edward O Malley 9 3 Robot-Assisted Procedures with MRI Guidance... Mark G. Davies, Nikolaos V. Tsekos, and Erol Yeniaras 21 4 Surgical Robotics: Innovations, Development, and Shortcomings... Jean Bismuth and Marcia K. O Malley 33 Part III Pumps and Flow 5 Remarks on Solution Verification and Model Validation of Hemodynamic Simulations... Marc Garbey and Mark G. Davies 45 6 Cardiac Assist Devices... Basel Ramlawi 55 7 Multilateral Wells: Maximizing Well Productivity... Rustom K. Mody and Martin P. Coronado 71 v

6 vi Contents Part IV Rust and Rupture 8 Rust and Rupture: Atherosclerosis... Justin T. Saunders and Christie M. Ballantyne 89 9 Atherectomy and Plaque Analysis... Nyla Ismail and Eric K. Peden Stitches, Glues, and Staples Kim I. de la Cruz and William E. Cohn Part V Navigating and Imaging 11 Imaging and Navigation Alan B. Lumsden 12 Intravascular Imaging Daynene Vykoukal and Mark G. Davies 13 Optical 3D Deformation and Strain Measurement John Tyson II 14 Nanoscale Imaging of 3D Surfaces and Interfaces Dalia G. Yablon and Alan M. Schilowitz 15 Biomedical Computing in Complex Advanced Systems Ioannis A. Kakadiaris and Shishir K. Shah Part VI Cells and Nanotechnology 16 Developing a Stable Diabetic Model for Human Islet Assessment in the NOD-scid Mouse Daniel W. Fraga and A. Osama Gaber 17 Nanotechnology for Various Applications: Materials, Environmental and Medical Cumaraswamy Vipulanandan Part VII Unifying Oil and Medicine 18 Feasibility Study of Pumps and Pipes: Paving the Path from Oilfield to Operating Room X. Shelley Cao, Sarah Hernandez, Bryan Luce, Marcus Owens, Meredith Williams, and Mark G. Davies Index

7 Contributors Jean Bismuth M.D. Department of Cardiovascular Surgery, Methodist DeBakey Heart and Vascular Center, The Methodist Hospital, 6550 Fanin, Smith Tower Ste 1401, Houston, Texas Christie Ballantyne M.D. Baylor College of Medicine and Methodist DeBakey Heart and Vascular Center, Houston, TX, USA William E. Cohn M.D. Division of Cardiovascular Surgery, Texas Heart Institute at St. Luke s Episcopal Hospital, Houston, TX , USA Martin P. Coronado Completions & Production, Baker Hughes Incorporated, Houston, TX, USA Mark G. Davies M.D., Ph.D., M.B.A. Department of Cardiovascular Surgery, Methodist DeBakey Heart and Vascular Center, The Methodist Hospital, Houston, TX, USA Kim I. de la Cruz M.D. Division of Cardiothoracic Surgery, Michael E. DeBakey Department of Surgery, Baylor College of Medicine, Houston, TX, USA Daniel W. Fraga B.S. Islet Transplant Laboratories, The Methodist Hospital, Houston, TX, USA Marc Garbey Ph.D. Department of Computer Science, University of Houston, Houston, TX, USA Sarah Hernandez Advanced Learning Project Methodist Team, Jones Graduate School of Management, Rice University, Houston, TX, USA vii

8 viii Contributors Nyla Ismail Ph.D. DeBakey Heart and Vascular Center, The Methodist Hospital, Houston, TX, USA Ioannis A. Kakadiaris Ph.D. Computational Biomedicine Lab, Department of Computer Science, University of Houston, Houston, TX, USA Bryan Luce Advanced Learning Project Methodist Team, Jones Graduate School of Management, Rice University, Houston, TX, USA Alan B. Lumsden M.D. Department of Cardiovascular Surgery, Methodist DeBakey Heart and Vascular Center, The Methodist Hospital, Houston, TX, USA Rustom K. Mody P.E. Completions & Production, Baker Hughes Incorporated, Houston, TX, USA Edward O Malley Completions & Production, Baker Hughes Incorporated, Houston, TX, USA Marcia K. O Malley Ph.D. Department of Mechanical Engineering & Materials Science, Rice University, Houston, TX, USA A. Osama Gaber M.D. Islet Transplant Laboratories, The Methodist Hospital, Houston, TX, USA Marcus Owens Advanced Learning Project Methodist Team, Jones Graduate School of Management, Rice University, Houston, TX, USA Eric K. Peden M.D. Methodist DeBakey Heart and Vascular Center, Department of Cardiovascular Surgery, The Methodist Hospital, Houston, TX, USA Basel Ramlawi M.D. Methodist DeBakey Heart and Vascular Center, Cardiovascular Surgery and Transplantation, The Methodist Hospital, Houston, TX, USA Justin Saunders M.D. Baylor College of Medicine, Houston, TX, USA Methodist DeBakey Heart and Vascular Center, Houston, TX, USA Alan M. Schilowitz Corporate Strategic Research, ExxonMobil Research and Engineering, Annandale, NJ, USA

9 Contributors Shishir K. Shah Ph.D. Computational Biomedicine Lab, Department of Computer Science, University of Houston, Houston, TX, USA X. Shelley Cao Advanced Learning Project Methodist Team, Jones Graduate School of Management, Rice University, Houston, TX, USA Nikolaos V. Tsekos Ph.D. Medical Robotics Laboratory, Department of Computer Science, University of Houston, Houston, TX, USA John Tyson II P.E. Trilion Quality Systems, 500 Davis Drive, Suite 200, Plymouth Meeting, PA 19462, USA Cumaraswamy Vipulanandan Ph.D., P.E. Department of Civil and Environmental Engineering, Center for Innovative Grouting Materials and Technology (CIGMAT), Texas Hurricane Center for Innovative Technology (THC-IT), University of Houston, Houston, TX, USA Daynene Vykoukal Ph.D. Department of Cardiovascular Surgery, Methodist DeBakey Heart and Vascular Center, The Methodist Hospital, Houston, TX, USA Meredith Williams Advanced Learning Project Methodist Team, Jones Graduate School of Management, Rice University, Houston, TX, USA Dalia G. Yablon Corporate Strategic Research, ExxonMobil Research and Engineering, Annandale, NJ, USA Erol Yeniaras M.S. Medical Robotics Laboratory, Department of Computer Science, University of Houston, Houston, TX, USA ix

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11 Pumps and Pipes: The Concept Alan B. Lumsden Introduction The solution to our problems most likely lies in someone else s toolbox the challenge is in finding it. A significant problem in medical technology, and perhaps the energy business, is that developers are very in-bred, exposed only to like-thinking individuals, which prevents innovation and maturation of out of the box ideas. We believe that great benefit may be gained by exposing cardiovascular and imaging researchers to technology currently available in the oil and gas world. We therefore created a problemfocused forum to analyze issues relevant to both the energy and medical worlds, presenting and discussing with opposite industry counterparts, in an exploration of complementary technologies. Background There are remarkable similarities between the oil and gas industry and the treatment of cardiovascular disease. Both deal in the business of Pumps and Pipes. Both industries image, navigate hollow tubes into targets, create conduits for delivery of oil or blood, monitor and maintain those conduits, intervene when they fail and seek less expensive, less traumatic methods for achieving their goals. The research tools used to optimize our industries are similar: metallurgy, finite element analysis, computational fluid dynamics, stress testing and the search for new durable materials. Blood and oil are both non-newtonian fluids that have remarkably similar flow characteristics. Computational fluid dynamics, a technique for analyzing how fluids A.B. Lumsden Department of Cardiovascular Surgery, Methodist DeBakey Heart and Vascular Center, The Methodist Hospital, Houston, Texas, USA xi

12 xii Pumps and Pipes: The Concept flow, has been largely developed in the oil and gas business and used to optimize pipeline development. It is now emerging as a central tool in understanding the dynamics of how fluid flows in blood vessels in order to optimize device development. Likewise, finite element analysis extensively employed for engineering of critical pump components is now used to predict how and when aneurysms rupture. The two leading industries in Houston are the oil and gas industry and medicine (Tables 1 and 2). Both are national and international leaders in their respective fields. The Texas Medical Center, a consortium of medical schools, hospitals, and universities, is the single largest medical complex in the world. Similarly, Houston remains the unequivocal energy capital of the world, with both ExxonMobil and Shell having their largest research facilities within the city. Although leadership crossover occurs at the board level in many of the medical enterprises, this has not translated into a meaningful technology exchange. Despite the concentration of academia, medical Table 1 Houston oil and gas factsa 1901 Spindletop Well discovery of oil in East Texas led to founding of the Texas Company (now Chevron) and Humble Oil and Refining Company (now Exxon) Howard Hughes developed rotary drill bit in Houston Private Schools. Houston is the U.S. energy headquarters and a world center for virtually every segment of the petroleum industry. Forty-eight percent of the region s economic base employment is related to energy. The Houston metropolitan area has more than 3,000 energy-related establishments, including more than 500 exploration and production firms, more than 150 pipeline transportation establishments and hundreds of manufacturers and wholesalers of energy-sector products. Houston is home to 42 of the nation s 141 publicly traded oil and gas exploration and production firms, including 11 of the top 25; 11 of the remaining 14 have subsidiaries, major divisions or other significant operations here. In January 2010, the Houston MSA held 30.6% of the nation s jobs in crude petroleum and natural gas extraction (49,400 of 161,300), and 13.7% of jobs in support activities for mining (36,100 of 263,000). a Adapted from Greater Houston Partnership Economic Development fact sheets ( houston.org). Table 2 Texas Medical Center factsa The Texas Medical Center (TMC) is an area of Houston with 49 member institutions and is the largest medical complex in the world. The complex includes 13 renowned hospitals and two specialty institutions, two medical schools, four nursing schools and schools of dentistry, public health, pharmacy and virtually all health-related careers. TMC employs more than 93,500 people. During the past 5 years, TMC member institutions received $3.5 billion in grants for research. More than 71,500 students attend regular classes in the TMC. In 2009, approximately 6 million patient visits were made to the TMC. More heart surgeries are performed in the Texas Medical Center than anywhere else in the world. Two of the world s most famous heart surgeons, the late Michael E. DeBakey, M.D. and Denton A. Cooley, M.D. were medical leaders in the Texas Medical Center for decades. Adapted from Texas Medical Center 2009 Facts & Figures ( a

13 Pumps and Pipes: The Concept xiii institutions, and the petroleum industry, Houston has a sparse medical device industry, despite having many of the resources which could jump-start the process. There is precedent for integrating the medical and petroleum know-how with resulting business success and a positive impact on patient welfare. The KimrayGreenfield inferior vena cava filter was initially created to collect sludge from an oil pipeline. It is now used clinically to prevent clots from passing from the legs to the lungs. Dr. Greenfield was prompted by a case of pulmonary embolus (PE) in a young trauma patient. After opening the chest and performing a pulmonary embolectomy, the patient died. He sought better techniques to prevent PE and asked Garman Kimmell, an entrepreneur inventor for the oil and gas industry, for his help. Kimmell recognized the similar problem of sludge in oil pipelines and how a conical filter trapped the sludge at its center while still allowing flow around it on the sides. Together they designed a prototype and tested it in animals before implanting it in human patients in the early 1970s. The modern descendant is the stainless steel Greenfield filter, now marketed by Boston Scientific, which has been implanted in over 200,000 patients. Pumps and Pipes The goal of Pumps and Pipes 1 (P&P) was to explore opportunities to develop leapfrog technologies between these similar industries, and to expose medical researchers and oil and gas engineers to emerging technologies in cardiovascular disease and the energy industry. To do this, we provided an interdisciplinary platform to explore a series of topics with similar technologies and challenges. Each topic had a discussant from both the field of cardiovascular medicine and from numerous companies within the energy sector followed by an open discussion. Our goal was to stimulate discussion and ideas across a wide range of topics, since this was the first exchange of this kind. The invited audience of about 130 participants encompassed medical device engineers, cardiovascular physician-scientists from the Texas Medical Center, geologists, metallurgists, bioengineers, computer scientists, and physicists from the University of Houston, Rice University, and Texas A&M. We chose ten different topics selected for relevance to the different research groups. Two examples of the topics include: Pumps and Pipes 1, in 2007 Explored the Following Topics Hydraulics, Conduits, and Pumps Dr. George Noon presented his ongoing work in the development of an axial flow ventricular assist device, the Debakey-Noon VAD. Some of the design challenges in designing an axial flow pump are ensuring low hemolysis and shear forces, quiet and efficient pump mechanism, and building a compact power source.

14 xiv Pumps and Pipes: The Concept His counterpart from the oil and gas industry, Rodney Bane from ExxonMobil, presented the complexities in oil pump design. Several different pump designs are used, including gas lift, hydraulic jet, progressing cavity, and the electric submersible pump. The design challenge in petroleum pumping is in transferring the energy across the length of the pump, which can reach several miles or more. Afterwards, informal discussions continued as a small crowd gathered around the presenters and examples of the flow pump brought in by Dr. Noon. Accessing a Target Several topics were presented under this heading. Starting it off was a presentation by Dr. Alan Lumsden. The Sensei Robotic Catheter Control System by Hansen Medical removes the clinician from standing next to the radiation source as is now normally done. Instead, the clinician is seated at a workstation with a controller and a robotic arm takes place of the clinician s hand next to the fluoroscopy unit. This can be coupled with stereo tactic magnetic steering such as offered by Siemens AXIOM Artis imaging system and Stereotaxis Inc. s NIOBE Magnetic Navigation system. Using a special magnet-tipped wire, the system can navigate the wire through blood vessels using magnets on either side of the patient. By altering the direction and strength of the magnets, the wire tip can navigate through tortuous vessels and tight stenosis while minimizing vessel wall contact. Such a system is already operational at The Methodist Hospital. Future capabilities will enable integration of reconstructed axial imaging such as a computed tomography angiogram with on-table angiography. With the integrated imaging data, a computer could calculate exact coordinates and command the robot arm to precisely move the wires through vessels with less vessel wall trauma. In addition to reducing radiation doses from decreased fluoroscopy time, this could result in fewer complications due to catheter and wire manipulation. Geoff Downton, Ph.D., from Schlumberger gave the corresponding talk from the oil and gas industry on Geo-steering a bit. The group discussed the importance of imaging and how to guide a drill bit through miles of earth and bedrock. It is possible to calculate the drill path in advance but, in reality, the complexity of the different earth and rock formations encountered requires the ability to adjust the drilling direction during its operation. One method involves using expandable pads on the shaft of the drill bit that push the unit to the opposite side. This requires feedback information from the drill bit as well as power delivery through the potential 37,000 feet (or about 7 miles) of drill hole. Bringing Them Together: Lessons Learned The inferior vena caval filter is a notable success in applying technology from one field to another. We sought to plant the seeds for a similar exchange of ideas and cross-fertilization. We learned several things from this first meeting. One obvious

15 Pumps and Pipes: The Concept xv difference is that the scale of operation between the industries makes direct transference more challenging. Accessing a target lesion may require navigation through several centimeters of tortuous vasculature to reach a vessel <1 cm in diameter. In oil and gas, the distances are usually in meters or kilometers. This difference requires one to look beyond simple miniaturization for solutions. The range of topics was broad since we didn t know exactly where the sparks would fly. Because of the large number of topics, the focus was dispersed. For our next meeting, we planned on introducing fewer topics but discussing them in greater depth with smaller groups. Like the professional divisions in medicine, the oil and gas industry is divided into specialties and those specialties have expertise in one area or another. Specialists from the oil and gas industry were to be paired with similar experts from the academic and medical world. Discussing a problem amongst a smaller interest group allows for greater depth and detail. Although several collaborative partnerships were formed as a result of the project, it is too early to assess for any concrete results. After the symposium, written evaluations from the participants unanimously indicated that the program was valuable and that it should be a recurring event. Pumps and Pipes 2 Pumps and Pipes 2 was also conducted at the University of Houston and the focus for this forum was the other guy s toolkit. This symposium focused on showcasing tools which could be appropriately focused on the opposite industry. In this forum, we narrowed the focus on to two broad topics: ( a) Robotics (b) Imaging in a well bore and imaging inside a blood vessel As a follow up to Pumps and Pipes 2, a project was begun with Rice MBA students to explore the steps in developing a business designed to leverage concepts developed in the symposia and to evaluate the next steps. This project included surveying the P&P2 attendees for concepts, areas of interest and future formats. In addition, a book entitled simply Pumps and Pipes was planned to increase the availability of information and further promote the concept. Another spin off form the concept is the development of the Methodist Cardiovascular Robotics Institute focusing on further development of robotics-based interventions in the cardiovascular arena. Summary The oil and gas industry is the world s largest with a demand for capital in excess of $150 billion each year. By collaborating with inventors, engineers, and other scientists in the oil and gas industry, medicine stands to gain from potential

16 xvi Pumps and Pipes: The Concept crossover ideas. One of the most tangible and useful outcomes of the Pumps and Pipes project was the widening of the researcher s collaborative network for problem solving. Like the development of the Greenfield filter, some of our medical conundrums already have solutions discovered by others. However, many of the problems medical researchers face will not have ready-made transference from the oil and gas industry. The wealth of talent in the different industries can trigger profitable associations and creative solutions. We anticipate that Pumps and Pipes will be the forum for this collaborative brainstorming. Houston, TX Alan B. Lumsden, M.D.