Zdravković, Nebojša

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orcid::0000-0003-0877-3684
  • Zdravković, Nebojša (5)
Projects

Author's Bibliography

Numerical and experimental analysis of factors leading to suture dehiscence after Billroth II gastric resection

Cvetković, Aleksandar M.; Milašinović, Danko Z.; Peulić, Aleksandar; Mijailović, Nikola V.; Filipović, Nenad; Zdravković, Nebojša

(Elsevier Ireland Ltd, Clare, 2014)

TY  - JOUR
AU  - Cvetković, Aleksandar M.
AU  - Milašinović, Danko Z.
AU  - Peulić, Aleksandar
AU  - Mijailović, Nikola V.
AU  - Filipović, Nenad
AU  - Zdravković, Nebojša
PY  - 2014
UR  - https://gery.gef.bg.ac.rs/handle/123456789/618
AB  - The main goal of this study was to numerically quantify risk of duodenal stump blowout after Billroth II (BII) gastric resection. Our hypothesis was that the geometry of the reconstructed tract after BII resection is one of the key factors that can lead to duodenal dehiscence. We used computational fluid dynamics (CFD) with finite element (FE) simulations of various models of BII reconstructed gastrointestinal (GI) tract, as well as non-perfused, ex vivo, porcine experimental models. As main geometrical parameters for FE postoperative models we have used duodenal stump length and inclination between gastric remnant and duodenal stump. Virtual gastric resection was performed on each of 3D FE models based on multislice Computer Tomography (CT) DICOM. According to our computer simulation the difference between maximal duodenal stump pressures for models with most and least preferable geometry of reconstructed GI tract is about 30%. We compared the resulting postoperative duodenal pressure from computer simulations with duodenal stump dehiscence pressure from the experiment. Pressure at duodenal stump after BII resection obtained by computer simulation is 4-5 times lower than the dehiscence pressure according to our experiment on isolated bowel segment. Our conclusion is that if the surgery is performed technically correct, geometry variations of the reconstructed GI tract by themselves are not sufficient to cause duodenal stump blowout. Pressure that develops in the duodenal stump after BII resection using omega loop, only in the conjunction with other risk factors can cause duodenal dehiscence. Increased duodenal pressure after BII resection is risk factor. Hence we recommend the routine use of Roux en Y anastomosis as a safer solution in terms of resulting intraluminal pressure. However, if the surgeon decides to perform BII reconstruction, results obtained with this methodology can be valuable. (C) 2014 Elsevier Ireland Ltd. All rights reserved.
PB  - Elsevier Ireland Ltd, Clare
T2  - Computer Methods and Programs in Biomedicine
T1  - Numerical and experimental analysis of factors leading to suture dehiscence after Billroth II gastric resection
VL  - 117
IS  - 2
SP  - 71
EP  - 79
DO  - 10.1016/j.cmpb.2014.08.005
UR  - https://hdl.handle.net/21.15107/rcub_gery_618
ER  - 
@article{
author = "Cvetković, Aleksandar M. and Milašinović, Danko Z. and Peulić, Aleksandar and Mijailović, Nikola V. and Filipović, Nenad and Zdravković, Nebojša",
year = "2014",
abstract = "The main goal of this study was to numerically quantify risk of duodenal stump blowout after Billroth II (BII) gastric resection. Our hypothesis was that the geometry of the reconstructed tract after BII resection is one of the key factors that can lead to duodenal dehiscence. We used computational fluid dynamics (CFD) with finite element (FE) simulations of various models of BII reconstructed gastrointestinal (GI) tract, as well as non-perfused, ex vivo, porcine experimental models. As main geometrical parameters for FE postoperative models we have used duodenal stump length and inclination between gastric remnant and duodenal stump. Virtual gastric resection was performed on each of 3D FE models based on multislice Computer Tomography (CT) DICOM. According to our computer simulation the difference between maximal duodenal stump pressures for models with most and least preferable geometry of reconstructed GI tract is about 30%. We compared the resulting postoperative duodenal pressure from computer simulations with duodenal stump dehiscence pressure from the experiment. Pressure at duodenal stump after BII resection obtained by computer simulation is 4-5 times lower than the dehiscence pressure according to our experiment on isolated bowel segment. Our conclusion is that if the surgery is performed technically correct, geometry variations of the reconstructed GI tract by themselves are not sufficient to cause duodenal stump blowout. Pressure that develops in the duodenal stump after BII resection using omega loop, only in the conjunction with other risk factors can cause duodenal dehiscence. Increased duodenal pressure after BII resection is risk factor. Hence we recommend the routine use of Roux en Y anastomosis as a safer solution in terms of resulting intraluminal pressure. However, if the surgeon decides to perform BII reconstruction, results obtained with this methodology can be valuable. (C) 2014 Elsevier Ireland Ltd. All rights reserved.",
publisher = "Elsevier Ireland Ltd, Clare",
journal = "Computer Methods and Programs in Biomedicine",
title = "Numerical and experimental analysis of factors leading to suture dehiscence after Billroth II gastric resection",
volume = "117",
number = "2",
pages = "71-79",
doi = "10.1016/j.cmpb.2014.08.005",
url = "https://hdl.handle.net/21.15107/rcub_gery_618"
}
Cvetković, A. M., Milašinović, D. Z., Peulić, A., Mijailović, N. V., Filipović, N.,& Zdravković, N.. (2014). Numerical and experimental analysis of factors leading to suture dehiscence after Billroth II gastric resection. in Computer Methods and Programs in Biomedicine
Elsevier Ireland Ltd, Clare., 117(2), 71-79.
https://doi.org/10.1016/j.cmpb.2014.08.005
https://hdl.handle.net/21.15107/rcub_gery_618
Cvetković AM, Milašinović DZ, Peulić A, Mijailović NV, Filipović N, Zdravković N. Numerical and experimental analysis of factors leading to suture dehiscence after Billroth II gastric resection. in Computer Methods and Programs in Biomedicine. 2014;117(2):71-79.
doi:10.1016/j.cmpb.2014.08.005
https://hdl.handle.net/21.15107/rcub_gery_618 .
Cvetković, Aleksandar M., Milašinović, Danko Z., Peulić, Aleksandar, Mijailović, Nikola V., Filipović, Nenad, Zdravković, Nebojša, "Numerical and experimental analysis of factors leading to suture dehiscence after Billroth II gastric resection" in Computer Methods and Programs in Biomedicine, 117, no. 2 (2014):71-79,
https://doi.org/10.1016/j.cmpb.2014.08.005 .,
https://hdl.handle.net/21.15107/rcub_gery_618 .
7
2
6

Biomechanical Modeling of Knee for Specific Patients with Chronic Anterior Cruciate Ligament Injury

Filipović, Nenad; Isailović, Velibor; Nikolić, Dalibor; Peulić, Aleksandar; Mijailović, Nikola V.; Petrović, Suzana; Cuković, Saša; Vulović, Radun; Matić, Aleksandar; Zdravković, Nebojša; Devedžić, Goran; Ristić, Branko

(ComSIS Consortium, 2013)

TY  - JOUR
AU  - Filipović, Nenad
AU  - Isailović, Velibor
AU  - Nikolić, Dalibor
AU  - Peulić, Aleksandar
AU  - Mijailović, Nikola V.
AU  - Petrović, Suzana
AU  - Cuković, Saša
AU  - Vulović, Radun
AU  - Matić, Aleksandar
AU  - Zdravković, Nebojša
AU  - Devedžić, Goran
AU  - Ristić, Branko
PY  - 2013
UR  - https://gery.gef.bg.ac.rs/handle/123456789/558
AB  - In this study we modeled a patient specific 3D knee after anterior cruicate ligament (ACL) reconstruction. The purpose of the ACL reconstruction is to achieve stability in the entire range of motion of the knee and the establishment of the normal gait pattern. We present a new reconstruction technique that generates patient-specific 3D knee models from patient's magnetic resonant images (MRIs). The motion of the ACL reconstruction patients is measured by OptiTrack system with six infrared cameras. Finite element model of bones, cartilage and meniscus is used for determination stress and strain distribution at different body postures during gait analysis. It was observed that the maximum effective von Mises stress distribution up to 8 MPa occurred during 30% of the gait cycle on the meniscus. The biomechanical model of the knee joint during gait analysis can provide insight into the underlying mechanisms of knee function after ACL reconstruction.
PB  - ComSIS Consortium
T2  - Computer Science and Information Systems
T1  - Biomechanical Modeling of Knee for Specific Patients with Chronic Anterior Cruciate Ligament Injury
VL  - 10
IS  - 1
SP  - 525
EP  - 545
DO  - 10.2298/CSIS120531014F
UR  - https://hdl.handle.net/21.15107/rcub_gery_558
ER  - 
@article{
author = "Filipović, Nenad and Isailović, Velibor and Nikolić, Dalibor and Peulić, Aleksandar and Mijailović, Nikola V. and Petrović, Suzana and Cuković, Saša and Vulović, Radun and Matić, Aleksandar and Zdravković, Nebojša and Devedžić, Goran and Ristić, Branko",
year = "2013",
abstract = "In this study we modeled a patient specific 3D knee after anterior cruicate ligament (ACL) reconstruction. The purpose of the ACL reconstruction is to achieve stability in the entire range of motion of the knee and the establishment of the normal gait pattern. We present a new reconstruction technique that generates patient-specific 3D knee models from patient's magnetic resonant images (MRIs). The motion of the ACL reconstruction patients is measured by OptiTrack system with six infrared cameras. Finite element model of bones, cartilage and meniscus is used for determination stress and strain distribution at different body postures during gait analysis. It was observed that the maximum effective von Mises stress distribution up to 8 MPa occurred during 30% of the gait cycle on the meniscus. The biomechanical model of the knee joint during gait analysis can provide insight into the underlying mechanisms of knee function after ACL reconstruction.",
publisher = "ComSIS Consortium",
journal = "Computer Science and Information Systems",
title = "Biomechanical Modeling of Knee for Specific Patients with Chronic Anterior Cruciate Ligament Injury",
volume = "10",
number = "1",
pages = "525-545",
doi = "10.2298/CSIS120531014F",
url = "https://hdl.handle.net/21.15107/rcub_gery_558"
}
Filipović, N., Isailović, V., Nikolić, D., Peulić, A., Mijailović, N. V., Petrović, S., Cuković, S., Vulović, R., Matić, A., Zdravković, N., Devedžić, G.,& Ristić, B.. (2013). Biomechanical Modeling of Knee for Specific Patients with Chronic Anterior Cruciate Ligament Injury. in Computer Science and Information Systems
ComSIS Consortium., 10(1), 525-545.
https://doi.org/10.2298/CSIS120531014F
https://hdl.handle.net/21.15107/rcub_gery_558
Filipović N, Isailović V, Nikolić D, Peulić A, Mijailović NV, Petrović S, Cuković S, Vulović R, Matić A, Zdravković N, Devedžić G, Ristić B. Biomechanical Modeling of Knee for Specific Patients with Chronic Anterior Cruciate Ligament Injury. in Computer Science and Information Systems. 2013;10(1):525-545.
doi:10.2298/CSIS120531014F
https://hdl.handle.net/21.15107/rcub_gery_558 .
Filipović, Nenad, Isailović, Velibor, Nikolić, Dalibor, Peulić, Aleksandar, Mijailović, Nikola V., Petrović, Suzana, Cuković, Saša, Vulović, Radun, Matić, Aleksandar, Zdravković, Nebojša, Devedžić, Goran, Ristić, Branko, "Biomechanical Modeling of Knee for Specific Patients with Chronic Anterior Cruciate Ligament Injury" in Computer Science and Information Systems, 10, no. 1 (2013):525-545,
https://doi.org/10.2298/CSIS120531014F .,
https://hdl.handle.net/21.15107/rcub_gery_558 .
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Modeling of Arterial Stiffness using Variations of Pulse Transit Time

Peulić, Aleksandar; Milojević, Natasa; Jovanov, Emil; Radović, Miloš; Saveljić, Igor; Zdravković, Nebojša; Filipović, Nenad

(ComSIS Consortium, 2013)

TY  - JOUR
AU  - Peulić, Aleksandar
AU  - Milojević, Natasa
AU  - Jovanov, Emil
AU  - Radović, Miloš
AU  - Saveljić, Igor
AU  - Zdravković, Nebojša
AU  - Filipović, Nenad
PY  - 2013
UR  - https://gery.gef.bg.ac.rs/handle/123456789/550
AB  - In this paper, a finite element (FE) modeling is used to model effects of the arterial stiffness on the different signal patterns of the pulse transit time (PTT). Several different breathing patterns of the three subjects are measured with PTT signal and corresponding finite element model of the straight elastic artery is applied. The computational fluid-structure model provides arterial elastic behavior and fitting procedure was applied in order to estimate Young's module of stiffness of the artery. It was found that approximately same elastic Young's module can be fitted for specific subject with different breathing patterns which validate this methodology for possible noninvasive determination of the arterial stiffness.
PB  - ComSIS Consortium
T2  - Computer Science and Information Systems
T1  - Modeling of Arterial Stiffness using Variations of Pulse Transit Time
VL  - 10
IS  - 1
SP  - 547
EP  - 565
DO  - 10.2298/CSIS120531015P
UR  - https://hdl.handle.net/21.15107/rcub_gery_550
ER  - 
@article{
author = "Peulić, Aleksandar and Milojević, Natasa and Jovanov, Emil and Radović, Miloš and Saveljić, Igor and Zdravković, Nebojša and Filipović, Nenad",
year = "2013",
abstract = "In this paper, a finite element (FE) modeling is used to model effects of the arterial stiffness on the different signal patterns of the pulse transit time (PTT). Several different breathing patterns of the three subjects are measured with PTT signal and corresponding finite element model of the straight elastic artery is applied. The computational fluid-structure model provides arterial elastic behavior and fitting procedure was applied in order to estimate Young's module of stiffness of the artery. It was found that approximately same elastic Young's module can be fitted for specific subject with different breathing patterns which validate this methodology for possible noninvasive determination of the arterial stiffness.",
publisher = "ComSIS Consortium",
journal = "Computer Science and Information Systems",
title = "Modeling of Arterial Stiffness using Variations of Pulse Transit Time",
volume = "10",
number = "1",
pages = "547-565",
doi = "10.2298/CSIS120531015P",
url = "https://hdl.handle.net/21.15107/rcub_gery_550"
}
Peulić, A., Milojević, N., Jovanov, E., Radović, M., Saveljić, I., Zdravković, N.,& Filipović, N.. (2013). Modeling of Arterial Stiffness using Variations of Pulse Transit Time. in Computer Science and Information Systems
ComSIS Consortium., 10(1), 547-565.
https://doi.org/10.2298/CSIS120531015P
https://hdl.handle.net/21.15107/rcub_gery_550
Peulić A, Milojević N, Jovanov E, Radović M, Saveljić I, Zdravković N, Filipović N. Modeling of Arterial Stiffness using Variations of Pulse Transit Time. in Computer Science and Information Systems. 2013;10(1):547-565.
doi:10.2298/CSIS120531015P
https://hdl.handle.net/21.15107/rcub_gery_550 .
Peulić, Aleksandar, Milojević, Natasa, Jovanov, Emil, Radović, Miloš, Saveljić, Igor, Zdravković, Nebojša, Filipović, Nenad, "Modeling of Arterial Stiffness using Variations of Pulse Transit Time" in Computer Science and Information Systems, 10, no. 1 (2013):547-565,
https://doi.org/10.2298/CSIS120531015P .,
https://hdl.handle.net/21.15107/rcub_gery_550 .
2
1
2

ARTreat Project: Three-Dimensional Numerical Simulation of Plaque Formation and Development in the Arteries

Filipović, Nenad; Rosić, Mirko; Tanasković, Irena; Milošević, Žarko; Nikolić, Dalibor; Zdravković, Nebojša; Peulić, Aleksandar; Kojić, Milos R.; Fotiadis, Dimitris I.; Parodi, Oberdan

(IEEE -Inst Electrical Electronics Engineers Inc, Piscataway, 2012)

TY  - JOUR
AU  - Filipović, Nenad
AU  - Rosić, Mirko
AU  - Tanasković, Irena
AU  - Milošević, Žarko
AU  - Nikolić, Dalibor
AU  - Zdravković, Nebojša
AU  - Peulić, Aleksandar
AU  - Kojić, Milos R.
AU  - Fotiadis, Dimitris I.
AU  - Parodi, Oberdan
PY  - 2012
UR  - https://gery.gef.bg.ac.rs/handle/123456789/462
AB  - Atherosclerosis is a progressive disease characterized by the accumulation of lipids and fibrous elements in arteries. It is characterized by dysfunction of endothelium and vasculitis, and accumulation of lipid, cholesterol, and cell elements inside blood vessel wall. In this study, a continuum-based approach for plaque formation and development in 3-D is presented. The blood flow is simulated by the 3-D Navier-Stokes equations, together with the continuity equation while low-density lipoprotein (LDL) transport in lumen of the vessel is coupled with Kedem-Katchalsky equations. The inflammatory process was solved using three additional reaction-diffusion partial differential equations. Transport of labeled LDL was fitted with our experiment on the rabbit animal model. Matching with histological data for LDL localization was achieved. Also, 3-D model of the straight artery with initial mild constriction of 30% plaque for formation and development is presented.
PB  - IEEE -Inst Electrical Electronics Engineers Inc, Piscataway
T2  - IEEE Transactions on Information Technology In Biomedicine
T1  - ARTreat Project: Three-Dimensional Numerical Simulation of Plaque Formation and Development in the Arteries
VL  - 16
IS  - 2
SP  - 272
EP  - 278
DO  - 10.1109/TITB.2011.2168418
UR  - https://hdl.handle.net/21.15107/rcub_gery_462
ER  - 
@article{
author = "Filipović, Nenad and Rosić, Mirko and Tanasković, Irena and Milošević, Žarko and Nikolić, Dalibor and Zdravković, Nebojša and Peulić, Aleksandar and Kojić, Milos R. and Fotiadis, Dimitris I. and Parodi, Oberdan",
year = "2012",
abstract = "Atherosclerosis is a progressive disease characterized by the accumulation of lipids and fibrous elements in arteries. It is characterized by dysfunction of endothelium and vasculitis, and accumulation of lipid, cholesterol, and cell elements inside blood vessel wall. In this study, a continuum-based approach for plaque formation and development in 3-D is presented. The blood flow is simulated by the 3-D Navier-Stokes equations, together with the continuity equation while low-density lipoprotein (LDL) transport in lumen of the vessel is coupled with Kedem-Katchalsky equations. The inflammatory process was solved using three additional reaction-diffusion partial differential equations. Transport of labeled LDL was fitted with our experiment on the rabbit animal model. Matching with histological data for LDL localization was achieved. Also, 3-D model of the straight artery with initial mild constriction of 30% plaque for formation and development is presented.",
publisher = "IEEE -Inst Electrical Electronics Engineers Inc, Piscataway",
journal = "IEEE Transactions on Information Technology In Biomedicine",
title = "ARTreat Project: Three-Dimensional Numerical Simulation of Plaque Formation and Development in the Arteries",
volume = "16",
number = "2",
pages = "272-278",
doi = "10.1109/TITB.2011.2168418",
url = "https://hdl.handle.net/21.15107/rcub_gery_462"
}
Filipović, N., Rosić, M., Tanasković, I., Milošević, Ž., Nikolić, D., Zdravković, N., Peulić, A., Kojić, M. R., Fotiadis, D. I.,& Parodi, O.. (2012). ARTreat Project: Three-Dimensional Numerical Simulation of Plaque Formation and Development in the Arteries. in IEEE Transactions on Information Technology In Biomedicine
IEEE -Inst Electrical Electronics Engineers Inc, Piscataway., 16(2), 272-278.
https://doi.org/10.1109/TITB.2011.2168418
https://hdl.handle.net/21.15107/rcub_gery_462
Filipović N, Rosić M, Tanasković I, Milošević Ž, Nikolić D, Zdravković N, Peulić A, Kojić MR, Fotiadis DI, Parodi O. ARTreat Project: Three-Dimensional Numerical Simulation of Plaque Formation and Development in the Arteries. in IEEE Transactions on Information Technology In Biomedicine. 2012;16(2):272-278.
doi:10.1109/TITB.2011.2168418
https://hdl.handle.net/21.15107/rcub_gery_462 .
Filipović, Nenad, Rosić, Mirko, Tanasković, Irena, Milošević, Žarko, Nikolić, Dalibor, Zdravković, Nebojša, Peulić, Aleksandar, Kojić, Milos R., Fotiadis, Dimitris I., Parodi, Oberdan, "ARTreat Project: Three-Dimensional Numerical Simulation of Plaque Formation and Development in the Arteries" in IEEE Transactions on Information Technology In Biomedicine, 16, no. 2 (2012):272-278,
https://doi.org/10.1109/TITB.2011.2168418 .,
https://hdl.handle.net/21.15107/rcub_gery_462 .
48
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39

Transient finite element modeling of functional electrical stimulation

Filipović, Nenad; Peulić, Aleksandar; Zdravković, Nebojša; Grbović-Marković, Vesna M.; Jurišić-Skevin, Aleksandra J.

(General Physiol and Biophysics, Bratislava, 2011)

TY  - JOUR
AU  - Filipović, Nenad
AU  - Peulić, Aleksandar
AU  - Zdravković, Nebojša
AU  - Grbović-Marković, Vesna M.
AU  - Jurišić-Skevin, Aleksandra J.
PY  - 2011
UR  - https://gery.gef.bg.ac.rs/handle/123456789/417
AB  - Transcutaneous functional electrical stimulation is commonly used for strengthening muscle. However, transient effects during stimulation are not yet well explored. The effect of an amplitude change of the stimulation can be described by static model, but there is no differency for different pulse duration. The aim of this study is to present the finite element (FE) model of a transient electrical stimulation on the forearm. Discrete FE equations were derived by using a standard Galerkin procedure. Different tissue conductive and dielectric properties are fitted using least square method and trial and error analysis from experimental measurement. This study showed that FE modeling of electrical stimulation can give the spatial-temporal distribution of applied current in the forearm. Three different cases were modeled with the same geometry but with different input of the current pulse, in order to fit the tissue properties by using transient FE analysis. All three cases were compared with experimental measurements of intramuscular voltage on one volunteer.
PB  - General Physiol and Biophysics, Bratislava
T2  - General Physiology and Biophysics
T1  - Transient finite element modeling of functional electrical stimulation
VL  - 30
IS  - 1
SP  - 59
EP  - 65
DO  - 10.4149/gpb_2011_01_59
UR  - https://hdl.handle.net/21.15107/rcub_gery_417
ER  - 
@article{
author = "Filipović, Nenad and Peulić, Aleksandar and Zdravković, Nebojša and Grbović-Marković, Vesna M. and Jurišić-Skevin, Aleksandra J.",
year = "2011",
abstract = "Transcutaneous functional electrical stimulation is commonly used for strengthening muscle. However, transient effects during stimulation are not yet well explored. The effect of an amplitude change of the stimulation can be described by static model, but there is no differency for different pulse duration. The aim of this study is to present the finite element (FE) model of a transient electrical stimulation on the forearm. Discrete FE equations were derived by using a standard Galerkin procedure. Different tissue conductive and dielectric properties are fitted using least square method and trial and error analysis from experimental measurement. This study showed that FE modeling of electrical stimulation can give the spatial-temporal distribution of applied current in the forearm. Three different cases were modeled with the same geometry but with different input of the current pulse, in order to fit the tissue properties by using transient FE analysis. All three cases were compared with experimental measurements of intramuscular voltage on one volunteer.",
publisher = "General Physiol and Biophysics, Bratislava",
journal = "General Physiology and Biophysics",
title = "Transient finite element modeling of functional electrical stimulation",
volume = "30",
number = "1",
pages = "59-65",
doi = "10.4149/gpb_2011_01_59",
url = "https://hdl.handle.net/21.15107/rcub_gery_417"
}
Filipović, N., Peulić, A., Zdravković, N., Grbović-Marković, V. M.,& Jurišić-Skevin, A. J.. (2011). Transient finite element modeling of functional electrical stimulation. in General Physiology and Biophysics
General Physiol and Biophysics, Bratislava., 30(1), 59-65.
https://doi.org/10.4149/gpb_2011_01_59
https://hdl.handle.net/21.15107/rcub_gery_417
Filipović N, Peulić A, Zdravković N, Grbović-Marković VM, Jurišić-Skevin AJ. Transient finite element modeling of functional electrical stimulation. in General Physiology and Biophysics. 2011;30(1):59-65.
doi:10.4149/gpb_2011_01_59
https://hdl.handle.net/21.15107/rcub_gery_417 .
Filipović, Nenad, Peulić, Aleksandar, Zdravković, Nebojša, Grbović-Marković, Vesna M., Jurišić-Skevin, Aleksandra J., "Transient finite element modeling of functional electrical stimulation" in General Physiology and Biophysics, 30, no. 1 (2011):59-65,
https://doi.org/10.4149/gpb_2011_01_59 .,
https://hdl.handle.net/21.15107/rcub_gery_417 .
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