Design and development of a sensorized cylindrical object for grasping assessment

Aim of this work is to design and develop an instrumented cylindrical object equipped with force sensors, which is able to assess grasping performance of both human and robotic hands. The object is made of two concentric shells between which sixteen piezoresistive sensors have been located in order to measure the forces applied by the hand fingers during grasping. Furthermore, a magneto-inertial unit has been positioned inside the object for acquiring information about object orientation during manipulation. A wireless communication between the electronic boards, responsible for acquiring the data from the sensors, and a remote laptop has been guaranteed. The object has been conceived in such a way to be adopted for evaluating both power and precision grasps and for measuring the forces applied by each finger of the hand. In order to evaluate object performance, a finite element analysis for estimating the deformation of the external shell for different force values has been carried out. Moreover, to evaluate object sensitivity, a static analysis of the force transmitted by the external shell to the underlying sensors has been performed by varying the thickness of the shells. The obtained preliminary results have validated the feasibility of using the developed object for assessing grasping performed by human and robotic hands.

Multipoint temperature monitoring in liver undergoing computed tomography-guided radiofrequency ablation with fiber Bragg grating probes

In this work, we investigated the temperature increment experienced by biological tissue during radiofrequency ablation (RFA). The measurements were performed by using two custom-made thermal probes based on fiber optic sensors (fiber Bragg gratings, FBGs). The two probes embed a total of 9 FBGs. Experiments were performed during RFA of an ex vivo healthy porcine liver. The RFA heating module was equipped with 5 thermocouples. Results show that the temperature increment close to the applicator (i.e., 0.6 cm-0.7 cm) reaches the temperature which is set as a target on the RFA module (i.e., approximately 100 °C). The distance from the applicator also has an impact on the dynamics of the heating phenomenon: at short distances the tissue temperature reaches a steady state condition after a few minutes, on the other hand the sensors placed at a distance ≥2cm did not reach the steady-state conditions during the 14-minute procedure. The multipoint temperature monitoring, which uses sensors at several distances from the applicator, can provide useful information regarding the boundary of damaged volume. This approach can be combined with the monitoring temperature system embedded in the heating equipment, to better control the damaged volume, and to improve the treatment outcomes.

A novel tool and procedure for in-situ volumetric calibration of motion capture systems for breathing analysis

Optical motion capture systems are widely used in biomechanics although have not been significantly explored for measuring volumes and volume variations yet. The aim of this study was to propose and test a completely novel procedure for the calibration of motion capture systems for the breathing analysis in terms of volume measurements, by the use of a tool consisting in an ad-hoc designed in-situ calibration device (CD) and two algorithms for calibration. Both the calibration tool and the calibration procedure performed in the range 0-2780mL on an Optoelectronic Plethysmography (OEP) system are presented. The CD delivered known volume (ΔVCD) variations to the OEP; the two algorithms performed the calibration by the comparison between ΔVCD and OEP recorded volume (ΔVOEP), in both static and dynamic conditions. Discrimination threshold, accuracy, precision and repeatability for the volume variation measurements have been evaluated, as well as the calibration curve of the OEP. OEP volume threshold of ±8.92mL was assessed; the volume measurement accuracy was always better than 6.0% of measured volume, and a volume repeatability of ±2.7mL was found. Lastly, the calibration curve was assessed to be ΔVOEP= 0.962·ΔVCD. Results demonstrate that the proposed calibration procedure can be useful to provide an in-situ accurate calibration of motion capture systems in the volume analysis, to optimize the hardware and the software of the available system for volume measurement as well as to establish the motion capture system appropriateness, in terms of technical suitability and data quality.

Monitoring of thermal treatment by linearly chirped fiber Bragg grating sensors: feasibility assessment during laser ablation on ex vivo liver

In this work a spatially-resolved fiber optic temperature sensor has been characterized in a wide range of gradient applied on its active area (from -35 °C to +35 °C). Preliminary experiments to assess its feasibility for application in laser ablation have been performed. The sensor under test is a linearly chirped fiber Bragg grating (FBG), with 1.5 cm-length of active area. It can be considered as a chain of several FBGs, each able to sense local temperature. The sensor response to the gradient has been analyzed in terms of its spectrum width (full width at half maximum). There is a linear relationship between the full width at half maximum and the gradient, with a sensitivity of 0.0087 nm°C-1. The feasibility test using the linearly chirped FBG during laser ablation showed promising results: it is able to detect both the thermal gradients along is active area and the average temperature increment during the procedure.

Temperature monitoring during radiofrequency ablation of liver: in vivo trials

Radiofrequency ablation (RFA) is a minimally invasive procedure used to treat tumors by means of hyperthermia, mostly through percutaneous approach. The tissue temperature plays a pivotal role in the achievement of the target volume heating, while sparing the surrounding healthy tissue from thermal damage. Several techniques for thermometry during RFA are investigated, most of them based on the use of single-point measurement system (e.g., thermocouples). The measurement of temperature map is crucial for the real-time control and fine adjustment of the treatment settings, to optimize the shape and size of the ablated volume. The recent interest about fiber optic sensors and, among them, fiber Bragg gratings (FBGs) for the monitoring of thermal effects motivated further investigation. In particular, the feature of FBGs to form an array of several elements, thus to be inscribed within the same fiber, allows the use of a single probe for the multi-points monitoring of the tissue temperature during RFA. Hence, the aim of this study is the development and characterization of a needle-like probe embedding an array of three FBGs, which was tested on pig liver during in vivo trials. The needle allows a safe and easy insertion of the fiber optic within the liver. It was inserted by ultrasound guidance into the liver, and monitored the change of tissue temperature during RFA controlled by the roll-off technique. Also the measurement error induced by breathing movements of the liver was assessed (less than 3 °C). Results encourage the use of the probe in clinical settings, as well as the improvement of some features, e.g., a higher number of FBGs for performing quasi-distributed measurement.

A cost-effective, non-invasive system for pressure monitoring during epidural needle insertion: Design, development and bench tests

Epidural blockade procedures have gained large acceptance during last decades. However, the insertion of the needle during epidural blockade procedures is challenging, and there is an increasing alarming risk in accidental dural puncture. One of the most popular approaches to minimize the mentioned risk is to detect the epidural space on the base of the loss of resistance (LOR) during the epidural needle insertion. The aim of this paper is to illustrate an innovative and non-invasive system able to monitor the pressure exerted during the epidural blockade procedure in order to detect the LOR. The system is based on a Force Sensing Resistor (FSR) sensor arranged on the top of the syringe's plunger. Such a sensor is able to register the resistance opposed to the needle by the different tissues transducing the pressure exerted on the plunger into a change of an electrical resistance. Hence, on the base of a peculiar algorithm, the system automatically detects LOR providing visual and acoustic feedbacks to the operator improving the safety of the procedure. Experiments have been performed to characterize the measurement device and to validate the whole system. Notice that the proposed solution is able to perform an effective detection of the LOR.

Bronchial blockers under pressure: in vitro model and ex vivo model

BACKGROUND

Pressures (Pe) exerted by bronchial blockers on the inner wall of the bronchi may cause mucosal ischaemia. Our aims were as follows: (i) to compare the intracuff pressure (Pi) and Pe exerted by commercially available bronchial blockers in an in vitro and an ex vivo model; (ii) to investigate the influence of both the inflated intracuff volume and cuff diameter on Pe; and (iii) to estimate the minimal sealing volume (VSmin) and the corresponding Pe for each bronchial blocker studied.

METHODS

The Pe exerted by seven commercial bronchial blockers was measured at different inflation volumes using a custom-designed system using in vitro and ex vivo animal models with two internal diameters (12 and 15 mm).

RESULTS

In the same conditions, Pi was significantly lower than Pe (P<0.05), and Pe was higher in the in vitro model than in the ex vivo model. The Pe increased with the inflated volume, with use of the small-diameter model (P<0.05). Ex vivo models needed a higher minimal sealing volume than the in vitro models, and this volume increased with the diameter (e.g. the VSmin at a positive pressure of 25 cm H2O required a Pe ranging from 12 to 78 mm Hg on the 15 mm ex vivo model and from 66 to 110 mm Hg on the 12 mm ex vivo model).

CONCLUSIONS

The Pi cannot be used to approximate Pe. The diameter of the model, the inflated volume, and the bronchial blocker design all influence Pe. A pressure higher than the critical ischaemic threshold (i.e. 25 mm Hg) was needed to prevent air leak around the cuff in the in vitro and ex vivo models.

Evaluation of optoelectronic Plethysmography accuracy and precision in recording displacements during quiet breathing simulation

Opto-electronic Plethysmography (OEP) is a motion analysis system used to measure chest wall kinematics and to indirectly evaluate respiratory volumes during breathing. Its working principle is based on the computation of marker displacements placed on the chest wall. This work aims at evaluating the accuracy and precision of OEP in measuring displacement in the range of human chest wall displacement during quiet breathing. OEP performances were investigated by the use of a fully programmable chest wall simulator (CWS). CWS was programmed to move 10 times its eight shafts in the range of physiological displacement (i.e., between 1 mm and 8 mm) at three different frequencies (i.e., 0.17 Hz, 0.25 Hz, 0.33 Hz). Experiments were performed with the aim to: (i) evaluate OEP accuracy and precision error in recording displacement in the overall calibrated volume and in three sub-volumes, (ii) evaluate the OEP volume measurement accuracy due to the measurement accuracy of linear displacements. OEP showed an accuracy better than 0.08 mm in all trials, considering the whole 2m(3) calibrated volume. The mean measurement discrepancy was 0.017 mm. The precision error, expressed as the ratio between measurement uncertainty and the recorded displacement by OEP, was always lower than 0.55%. Volume overestimation due to OEP linear measurement accuracy was always <; 12 mL (<; 3.2% of total volume), considering all settings.

Development and preliminary testing of an instrumented object for force analysis during grasping

This paper presents the design and realization of an instrumented object for force analysis during grasping. The object, with spherical shape, has been constructed with three contact areas in order to allow performing a tripod grasp. Force Sensing Resistor (FSR) sensors have been employed for normal force measurements, while an accelerometer has been used for slip detection. An electronic board for data acquisition has been embedded into the object, so that only the cables for power supply exit from it. Validation tests have been carried out for: (i) comparing the force measurements with a ground truth; (ii) assessing the capability of the accelerometer to detect slippage for different roughness values; (iii) evaluating object performance in grasp trials performed by a human subject.

An MR-compatible force sensor based on FBG technology for biomedical application

Fiber Bragg Grating (FBG) technology is very attractive to develop sensors for the measurement of thermal and mechanical parameters in biological applications, particularly in presence of electromagnetic interferences. This work presents the design, working principle and experimental characterization of a force sensor based on two FBGs, with the feature of being compatible with Magnetic Resonance. Two prototypes based on different designs are considered and characterized: 1) the fiber with the FBGs is encapsulated in a polydimethylsiloxane (PDMS) sheet; 2) the fiber with the FBGs is free without the employment of any polymeric layer. Results show that the prototype which adopts the polymeric sheet has a wider range of measurement (4200 mN vs 250 mN) and good linearity; although it has lower sensitivity (≈0.1 nm-N(1) vs 7 nm-N(1)). The sensor without polymeric layer is also characterized by employing a differential configuration which allows neglecting the influence of temperature. This solution improves the linearity of the sensor, on the other hand the sensitivity decreases. The resulting good metrological properties of the prototypes here tested make them attractive for the intended application and in general for force measurement during biomedical applications in presence of electromagnetic interferences.

Temperature monitoring during microwave ablation in ex vivo porcine livers

OBJECTIVE

The aim of the present study was to assess the temperature map and its reproducibility while applying two different MWA systems (915 MHz vs 2.45 GHz) in ex vivo porcine livers.

MATERIALS AND METHODS

Fifteen fresh pig livers were treated using the two antennae at three different settings: treatment time of 10 min and power of 45 W for both systems; 4 min and 100 W for the 2.45 GHz system. Trends of temperature were recorded during all procedures by means of fiber optic-based probes located at five fixed distances from the antenna, ranging between 10 mm and 30 mm. Each trial was repeated twice to assess the reproducibility of temperature distribution.

RESULTS

Temperature as function of distance from the antenna can be modeled by a decreasing exponential trend. At the same settings, temperature obtained with the 2.45 GHz system was higher than that obtained with the 915 MHz thus resulting into a wider area of ablation (diameter 17 mm vs 15 mm). Both systems showed good reproducibility in terms of temperature distribution (root mean squared difference for both systems ranged between 2.8 °C and 3.4 °C).

CONCLUSIONS

When both MWA systems are applied, a decreasing exponential model can predict the temperature map. The 2.45 GHz antenna causes higher temperatures as compared to the 915 MHz thus, resulting into larger areas of ablation. Both systems showed good reproducibility although better results were achieved with the 2.45 GHz antenna.

Sex determination from scapular length measurements by CT scans images in a Caucasian population

Together with race, stature and age, sex is a main component of the biological identity. Thanks to its proportional correlation with parts of the human body, sex can be evaluated form the skeleton. The most accurate approach to determine sex by bone size is based on os coxae or skull. After natural disaster their presence can never be guaranteed, therefore the development of methods of sex determination using other skeletal elements can result crucial. Herein, sexual dimorphism in the human scapula is used to develop a two-variable discriminant function for sex estimation. We have enrolled 100 males and 100 females who underwent thoracic CT scan evaluation and we have estimated two scapular diameters. The estimation has been carried out by analyzing images of the scapulae of each patient after three dimensional post-processing reconstructions. The two-variable function allows to obtain an overall accuracy of 88% on the calibration sample. Furthermore, we have employed the mentioned function on a collection of 10 individual test sample from the collection of the "Museo di Anatomia Umana di Firenze" of the Università degli Studi di Firenze; sex has been correctly predicted on 9 skeletons.

A micro opto-mechanical displacement sensor based on micro-diffraction gratings: design and characterization

A micro opto-mechanical displacement sensor is here presented. It is constituted by a sensing element based on two overlapped micro-diffraction gratings (MDGs). They present a platinum layer (45 nm of thick) on a glass substrate, a period of 525 µm constituted by a width of 150 µm of platinum separated (71.4% duty cycle). The working principle is based on the modulation of light intensity induced by the relative displacement between the MDGs: when a laser light perpendicularly hits the MDGs, the intensity of the transmitted light is a periodic function of the relative displacement between the two MDGs. A fiber optic is used to transport the transmitted light to a photodetector in order to avoid concerns related to the alignment between the optical components. The sensor's output is the ratio between the light intensity measured by the photodetector during the displacement of the MDGs and largest light intensity values measured in the whole range of measurement, therefore, it is lower than 1. The proposed sensor allows to discriminate displacement lower than 10 µm, using a cost effective micro-fabrication process implemented by the technique of Lift-Off. It shows a good linear behaviour in two ranges covering about one half of the MDGs period. Within the linear ranges it shows high sensitivity (about 0.5%/µm) and good accuracy (lower than 4% in the whole range of calibration); furthermore, the results show that a design with a duty cycle of 50% overcomes the marked decrease of sensitivity in a range of measurement corresponding to a grating period.

Design and characterization of a measurement system for monitoring pressure exerted by bronchial blockers: In vitro trials

Bronchial blockers (BBs) allow occluding the bronchial duct and collapsing the "dependent" lung in a number of thoracic surgery. The occlusion is obtained through a cuff that, inflated with a proper air volume, exerts a pressure, Pe, on the inner wall of the mainstem bronchus. In this work a measurement chain, based on two piezorestistive force sensors, was developed and calibrated to measure Pe exerted by six BBs, as a function of inflated volume on in vitro models (two latex ducts with diameters similar to the ones of the adult mainstem bronchi: 12 mm and 15 mm). Pe showed wide changes considering different BBs, and significantly increases with the decrease of the model's diameter, at the same inflated volume. Lastly, the minimum occlusive volume (MOV) to sail the two models was estimated for each BB. These experiments were performed by applying a pressure difference across the cuff of 25 cmH2O, in order to simulate the worst condition in a clinical scenario. Results show that MOV depends on both the type of BB and the duct diameter. The knowledge of this volume allows estimating the minimum value of Pe exerted by BBs to avoid air leakage.

Goniometric measurement for the estimation of anisotropy coefficient of human and animal pancreas

Estimation of optical properties of biologic tissues is determinant for laser dosimetry in medical applications. Tissues highly absorb and scatter the light in near infrared spectrum, where the laser provides therapeutic effects. Novel frontiers of clinical practice, e.g., the employment of laser light for the treatment of pancreatic cancer, require information about pancreas-laser interaction, which are crucial for therapy management. The property of biological tissues to scatter the light traveling through is described by the anisotropy coefficient (g). The relationship between g and the angular distribution of the scattered light is described by Henyey-Greenstein phase function. The measurement of angular distribution of scattered light is performed by the goniometric technique. This paper describes the estimation of g of ex vivo pancreas at 1064 nm, performed by a goniometric-based system, where a photodetector measures intensities of scattered light at fixed angles between -120° and 120°. A two-term Henyey-Greenstein phase function has been employed to estimate anisotropy coefficient for forward (gfs) and backward scattering (gbs). Experimental trails were performed to assess the repeatability of measurement system: percentage value of standard deviation is generally lower than 8% for angles higher (lower) than 13° (13°). Measurements were performed for the first time on healthy swine pancreas, aiming to investigate the influence of coagulation temperature: gfs decreases from 0.94 (at 25 °C) to 0.93 (at 80 °C). Afterwards, the same set up has been employed for the estimation of g of human pancreas affected by neuroendocrine tumor, which presented an estimated values for gfs of 0.89.

Influence of FBG sensors length on temperature measures in laser-irradiated pancreas: theoretical and experimental evaluation

Temperature distribution T(x,y,z,t) in tissue undergoing Laser-induced Interstitial Thermotherapy (LITT) plays a crucial role on treatment outcome. Theoretical and experimental assessment of temperature on ex vivo laser-irradiated pancreas is presented. The aim of this work is to assess the influence of thermometers dimensions on temperature measures during LITT. T(x,y,z,t) inside tissue is monitored by optical sensors, i.e., Fiber Bragg Gratings (FBGs): three FBGs with lengths of 10 mm and nine FBGs of 1 mm, at different distances (2 mm, 5 mm and 10 mm) and different quotes (0 mm, 2 mm and 4 mm) from the laser fiber tip are used. Theoretical punctual T(x,y,z,t) is averaged out on both 10 mm and 1 mm in order to compare numerical predictions with experimental data. Results demonstrate the influence of FBG length on T(x,y,z,t) measures. This phenomenon depends on the distance between sensor and applicator: it is particularly significant close to the applicator tip (2 mm) because of the high spatial T(x,y,z,t) gradient within the tissue. Both theoretical results and experimental ones show that just at a distance of 10 mm from the tip, differences between T(x,y,z,t) provided by FBGs of 10 mm and 1 mm are negligible.

Monitoring of temperature increase and tissue vaporization during laser interstitial thermotherapy of ex vivo swine liver by computed tomography

Laser interstitial thermotherapy (LITT) is a minimally invasive technique used to thermally destroy tumour cells. Being based on hyperthermia, LITT outcome depends on the temperature distribution inside the tissue. Recently, CT scan thermometry, based on the dependence of the CT number (HU) on tissue temperature (T) has been introduced during LITT; it is an attractive approach to monitor T because it overcomes the concerns related to the invasiveness. We performed LITT on nine ex vivo swine livers at three different laser powers, (P=1.5 W, P=3 W, P=5 W) with a constant treatment time t=200 s; HU is averaged on two ellipsoidal regions of interest (ROI) of 0.2 cm2, placed at two distances from the applicator (d=3.6 mm and d=8.7 mm); a reference ROI was placed away from the applicator (d=30 mm). The aim of this study is twofold: 1) to evaluate the effect of the T increase in terms of HU variation in ex vivo swine livers undergoing LITT; and 2) to estimate the P value for tissue vaporization. To the best of our knowledge, this is the first study focused on the HU variation in swine livers undergoing LITT at different P. The reported findings could be useful to assess the effect of LITT on the liver in terms of both T changes and tissue vaporization, with the aim to obtain an effective therapy.

Estimation of anisotropy coefficient and total attenuation of swine liver at 850 nm based on a goniometric technique: influence of sample thickness

Estimation of optical properties of biologic tissue is crucial for theoretical modeling of laser treatments in medicine. Tissue highly absorbs and scatters the light between 650 nm and 1300 nm, where the laser provides therapeutic effects. Among other properties, the characteristic of biological tissues to scatter the light traveling trough, is described by the anisotropy coefficient (g). The relationship between g and the distribution of the scattered light at different angles is described by Henyey-Greenstein phase function. The measurement of angular distribution of scattered light is performed by the goniometric technique. This paper describes the estimation of g and attenuation coefficient, μt, of swine liver at 850 nm, performed by an ad hoc designed goniometric-based system, where a spectrometer measures intensities of scattered light at fixed angles (0°, 30°, 45°, 60, 120°, 135° and 150°). Both one-term and two-term Henyey-Greenstein phase function have been employed to estimate anisotropy coefficient for forward (gfs) and backward scattering (gbs). Measurements are performed on samples of two thicknesses (60 um and 30 urn) to investigate the influence of this factor on g, and repeated 6 times for each thickness. The estimated values of gfs were 0.947 and 0.951 for thickness of 60 μm and 30 μm, respectively; the estimations of gfs were -0.498 and -0.270 for thickness of 60 μm and 30 μm, respectively. Moreover, μt of liver has been estimated (i.e., 90±20 cm(1)), through Lambert-Beer equation. The comparison of our results with data reported in literature encourages the use of the ad hoc designed tool for performing experiments on other tissue, and at other wavelengths.

Estimation of liver iron concentration by dual energy CT images: influence of X-ray energy on sensitivity

In hemochromatosis an abnormal accumulation of iron is present in parenchymal organs and especially in liver. Among the several techniques employed to diagnose the iron overload, magnetic resonance imaging (MRI) and Computed Tomography (CT) are the most promising non-invasive ones. MRI is largely used but shows limitation including an overestimation of iron and inability to quantify iron at very high concentrations. Therefore, some research groups are focusing on the estimation of iron concentration by CT images. Single X-ray CTs are not able to accurately perform this task in case of the presence of confounding factors (e.g., fat). A potential solution to overcome this concern is the employment of Dual-Energy CT (DECT). The aim of this work is to investigate influence of the kVp and mAs on CT number sensitivity to iron concentration. A phantom with test tubes filled with homogenized porcine liver at different iron concentrations, has been scanned with DECT at different mAs. The images have been analyzed using an ad-hoc developed algorithm which allows minimizing the influence of air bubbles present in the homogenized. Data show that the sensitivity is strongly influenced by kVp (its value almost halves from 80 kVp to 140 kVp; e.g. 0.41 g·μmol(-1) and 0.19 g·μmol(-1) at 80 kVp/120 mAs and 140 kVp/60 mAs respectively), on the other hand the influence of mAs value is negligible.

Feasibility assessment of CT-based thermometry for temperature monitoring during thermal procedure: Influence of ROI size and scan setting on metrological properties

Computed tomography (CT) thermometry belongs to the wide class of non-invasive temperature monitoring techniques, which includes ultrasound and Magnetic Resonance thermometry. Non-invasive techniques are particularly attractive to be used in hyperthermal procedures for their ability to produce a three-dimensional temperature map and because they overcome the risks related to the insertion of sensing elements.