A novel MRI compatible soft tissue indentor and fibre Bragg grating force sensor

Identifiability of soft tissue constitutive parameters from in-vivo macro-indentation

Reliable identification of soft tissue material parameters is frequently required in a variety of applications, particularly for biomechanical simulations using finite element analysis (FEA). However, determining representative constitutive laws and material parameters is challenging and often comprises a bottleneck that hinders the successful implementation of FEA. Soft tissues exhibit a nonlinear response and are commonly modeled using hyperelastic constitutive laws. In-vivo material parameter identification, for which standard mechanical tests (e.g., uniaxial tension and compression) are inapplicable, is commonly achieved using finite macro-indentation test. Due to the lack of analytical solutions, the parameters are commonly identified using inverse FEA (iFEA), in which simulated results and experimental data are iteratively compared. However, determining what data must be collected to accurately identify a unique parameter set remains unclear. This work investigates the sensitivities of two types of measurements: indentation force-depth data (e.g., measured using an instrumented indenter) and full-field surface displacements (e.g., using digital image correlation). To eliminate model fidelity and measurement-related errors, we employed an axisymmetric indentation FE model to produce synthetic data for four 2-parameter hyperelastic constitutive laws: compressible Neo-Hookean, and nearly incompressible Mooney-Rivlin, Ogden, and Ogden-Moerman models. For each constitutive law, we computed the objective functions representing the discrepancies in the reaction force, the surface displacement, and their combination, and visualized them for hundreds of parameter sets, spanning a representative range as found in the literature for the bulk soft tissue complex in human lower limbs. Moreover, we quantified three identifiability metrics, which provided insights into the uniqueness (or lack thereof) and the sensitivities. This approach provides a clear and systematic evaluation of the parameter identifiability, which is independent of the selection of the optimization algorithm and initial guesses required in iFEA. Our analysis indicated that the indenter's force-depth data, despite being commonly used for parameter identification, was insufficient for reliably and accurately identifying both parameters for all the investigated material models and that the surface displacement data improved the parameter identifiability in all cases, although the Mooney-Rivlin parameters remained poorly identifiable. Informed by the results, we then discuss several identification strategies for each constitutive model. Finally, we openly provide the codes used in this study, to allow others to further investigate the indentation problem according to their specifications (e.g., by modifying the geometries, dimensions, mesh, material models, boundary conditions, contact parameters, or objective functions).

Polymeric fiber sensors for insertion forces and trajectory determination of cochlear implants in hearing preservation

The level of hearing restoration in patients with severe to profound sensorineural hearing loss by means of cochlear implants (CIs) has drastically risen since the introduction of these neuroprosthetics. The proposed CI integrated with polymer optical fiber Bragg gratings (POFBGs) enables real-time evaluation of insertion forces and trajectory determination during implantation irrespective of the speed of insertion, as well as provides high signal quality, low stiffness levels, minimum induced stress even under forces of high magnitudes and exhibits significant reduction of the risk of fiber breakage inside the constricted cochlear geometry. As such, the proposed device opens new avenues towards atraumatic cochlear implantations and provides a direct route for the next generation of CIs with intraoperative insertion force assessment and path planning capacity crucial for surgical navigation. Hence, adaptation of this technology to clinical reality holds promising prospects for the hearing impaired.

State of the Art and Future Opportunities in MRI-Guided Robot-Assisted Surgery and Interventions

Magnetic resonance imaging (MRI) can provide high-quality 3-D visualization of target anatomy, surrounding tissue, and instrumentation, but there are significant challenges in harnessing it for effectively guiding interventional procedures. Challenges include the strong static magnetic field, rapidly switching magnetic field gradients, high-power radio frequency pulses, sensitivity to electrical noise, and constrained space to operate within the bore of the scanner. MRI has a number of advantages over other medical imaging modalities, including no ionizing radiation, excellent soft-tissue contrast that allows for visualization of tumors and other features that are not readily visible by other modalities, true 3-D imaging capabilities, including the ability to image arbitrary scan plane geometry or perform volumetric imaging, and capability for multimodality sensing, including diffusion, dynamic contrast, blood flow, blood oxygenation, temperature, and tracking of biomarkers. The use of robotic assistants within the MRI bore, alongside the patient during imaging, enables intraoperative MR imaging (iMRI) to guide a surgical intervention in a closed-loop fashion that can include tracking of tissue deformation and target motion, localization of instrumentation, and monitoring of therapy delivery. With the ever-expanding clinical use of MRI, MRI-compatible robotic systems have been heralded as a new approach to assist interventional procedures to allow physicians to treat patients more accurately and effectively. Deploying robotic systems inside the bore synergizes the visual capability of MRI and the manipulation capability of robotic assistance, resulting in a closed-loop surgery architecture. This article details the challenges and history of robotic systems intended to operate in an MRI environment and outlines promising clinical applications and associated state-of-the-art MRI-compatible robotic systems and technology for making this possible.

Photonic Integrated Interrogator for Monitoring the Patient Condition during MRI Diagnosis

In this work, we discuss the idea and practical implementation of an integrated photonic circuit-based interrogator of fiber Bragg grating (FBG) sensors dedicated to monitoring the condition of the patients exposed to Magnetic Resonance Imaging (MRI) diagnosis. The presented solution is based on an Arrayed Waveguide Grating (AWG) demultiplexer fabricated in generic indium phosphide technology. We demonstrate the consecutive steps of development of the device from design to demonstrator version of the system with confirmed functionality of monitoring the respiratory rate of the patient. The results, compared to those obtained using commercially available bulk interrogator, confirmed both the general concept and proper operation of the device.

Combining Freehand Ultrasound-Based Indentation and Inverse Finite Element Modeling for the Identification of Hyperelastic Material Properties of Thigh Soft Tissues

Finite element analysis (FEA) is a numerical modeling tool vastly employed in research facilities to analyze and predict load transmission between the human body and a medical device, such as a prosthesis or an exoskeleton. Yet, the use of finite element modeling (FEM) in a framework compatible with clinical constraints is hindered by, among others, heavy and time-consuming assessments of material properties. Ultrasound (U.S.) imaging opens new and unique opportunities for the assessment of in vivo material properties of soft tissues. Confident of these advances, a method combining a freehand U.S. probe and a force sensor was developed in order to compute the hyperelastic constitutive parameters of the soft tissues of the thigh in both relaxed (R) and contracted (C) muscles' configurations. Seven asymptomatic subjects were included for the experiment. Two operators in each configuration performed the acquisitions. Inverse FEM allowed for the optimization of an Ogden's hyperelastic constitutive model of soft tissues of the thigh in large displacement. The mean shear modulus identified for configurations R and C was, respectively, 3.2 ± 1.3 kPa and 13.7 ± 6.5 kPa. The mean alpha parameter identified for configurations R and C was, respectively, 10 ± 1 and 9 ± 4. An analysis of variance showed that the configuration had an effect on constitutive parameters but not on the operator.

Vital Sign Monitoring and Cardiac Triggering at 1.5 Tesla: A Practical Solution by an MR-Ballistocardiography Fiber-Optic Sensor

This article presents a solution for continuous monitoring of both respiratory rate (RR) and heart rate (HR) inside Magnetic Resonance Imaging (MRI) environments by a novel ballistocardiography (BCG) fiber-optic sensor. We designed and created a sensor based on the Fiber Bragg Grating (FBG) probe encapsulated inside fiberglass (fiberglass is a composite material made up of glass fiber, fabric, and cured synthetic resin). Due to this, the encapsulation sensor is characterized by very small dimensions (30 × 10 × 0.8 mm) and low weight (2 g). We present original results of real MRI measurements (conventionally most used 1.5 T MR scanner) involving ten volunteers (six men and four women) by performing conventional electrocardiography (ECG) to measure the HR and using a Pneumatic Respiratory Transducer (PRT) for RR monitoring. The acquired sensor data were compared against real measurements using the objective Bland–Altman method, and the functionality of the sensor was validated (95.36% of the sensed values were within the ±1.96 SD range for the RR determination and 95.13% of the values were within the ±1.96 SD range for the HR determination) by this means. The accuracy of this sensor was further characterized by a relative error below 5% (4.64% for RR and 4.87% for HR measurements). The tests carried out in an MRI environment demonstrated that the presence of the FBG sensor in the MRI scanner does not affect the quality of this imaging modality. The results also confirmed the possibility of using the sensor for cardiac triggering at 1.5 T (for synchronization and gating of cardiovascular magnetic resonance) and for cardiac triggering when a Diffusion Weighted Imaging (DWI) is used.

Magnetic Resonance Imaging Compatible Non-Invasive Fibre-Optic Sensors Based on the Bragg Gratings and Interferometers in the Application of Monitoring Heart and Respiration Rate of the Human Body: A Comparative Study

The publication presents a comparative study of two fibre-optic sensors in the application of heart rate (HR) and respiratory rate (RR) monitoring of the human body. After consultation with clinical practitioners, two types of non-invasive measuring and analysis systems based on fibre Bragg grating (FBG) and fibre-optic interferometer (FOI) have been designed and assembled. These systems use probes (both patent pending) that have been encapsulated in the bio-compatible polydimethylsiloxane (PMDS). The main advantage of PDMS is that it is electrically non-conductive and, as well as optical fibres, has low permeability. The initial verification measurement of the system designed was performed on four subjects in a harsh magnetic resonance (MR) environment under the supervision of a senior radiology assistant. A follow-up comparative study was conducted, upon a consent of twenty volunteers, in a laboratory environment with a minimum motion load and discussed with a head doctor of the Radiodiagnostic Institute. The goal of the laboratory study was to perform measurements that would simulate as closely as possible the environment of harsh MR or the environment of long-term health care facilities, hospitals and clinics. Conventional HR and RR measurement systems based on ECG measurements and changes in the thoracic circumference were used as references. The data acquired was compared by the objective Bland⁻Altman (B⁻A) method and discussed with practitioners. The results obtained confirmed the functionality of the designed probes, both in the case of RR and HR measurements (for both types of B⁻A, more than 95% of the values lie within the ±1.96 SD range), while demonstrating higher accuracy of the interferometric probe (in case of the RR determination, 95.66% for the FOI probe and 95.53% for the FBG probe, in case of the HR determination, 96.22% for the FOI probe and 95.23% for the FBG probe).

Fiber Optic Force Sensors for MRI-Guided Interventions and Rehabilitation: A Review

Magnetic Resonance Imaging (MRI) provides both anatomical imaging with excellent soft tissue contrast and functional MRI imaging (fMRI) of physiological parameters. The last two decades have witnessed the manifestation of increased interest in MRI-guided minimally invasive intervention procedures and fMRI for rehabilitation and neuroscience research. Accompanying the aspiration to utilize MRI to provide imaging feedback during interventions and brain activity for neuroscience study, there is an accumulated effort to utilize force sensors compatible with the MRI environment to meet the growing demand of these procedures, with the goal of enhanced interventional safety and accuracy, improved efficacy and rehabilitation outcome. This paper summarizes the fundamental principles, the state of the art development and challenges of fiber optic force sensors for MRI-guided interventions and rehabilitation. It provides an overview of MRI-compatible fiber optic force sensors based on different sensing principles, including light intensity modulation, wavelength modulation, and phase modulation. Extensive design prototypes are reviewed to illustrate the detailed implementation of these principles. Advantages and disadvantages of the sensor designs are compared and analyzed. A perspective on the future development of fiber optic sensors is also presented which may have additional broad clinical applications. Future surgical interventions or rehabilitation will rely on intelligent force sensors to provide situational awareness to augment or complement human perception in these procedures.

Fiber bragg grating sensor based device for simultaneous measurement of respiratory and cardiac activities

This paper reports a novel optical ballistocardiography technique, which is non-invasive, for the simultaneous measurement of cardiac and respiratory activities using a Fiber Bragg Grating Heart Beat Device (FBGHBD). The unique design of FBGHBD offers additional capabilities such as monitoring nascent morphology of cardiac and breathing activity, heart rate variability, heart beat rhythm, etc., which can assist in early clinical diagnosis of many conditions associated with heart and lung malfunctioning. The results obtained from the FBGHBD positioned around the pulmonic area on the chest have been evaluated against an electronic stethoscope which detects and records sound pulses originated from the cardiac activity. In order to evaluate the performance of the FBGHBD, quantitative and qualitative studies have been carried out and the results are found to be reliable and accurate, validating its potential as a standalone medical diagnostic device. The developed FBGHBD is simple in design, robust, portable, EMI proof, shock proof and non-electric in its operation which are desired features for any clinical diagnostic tool used in hospital environment.

A MRI-Compatible Combined Mechanical Loading and MR Elastography Setup to Study Deformation-Induced Skeletal Muscle Damage in Rats

Deformation of skeletal muscle in the proximity of bony structures may lead to deep tissue injury category of pressure ulcers. Changes in mechanical properties have been proposed as a risk factor in the development of deep tissue injury and may be useful as a diagnostic tool for early detection. MRE allows for the estimation of mechanical properties of soft tissue through analysis of shear wave data. The shear waves originate from vibrations induced by an external actuator placed on the tissue surface. In this study a combined Magnetic Resonance (MR) compatible indentation and MR Elastography (MRE) setup is presented to study mechanical properties associated with deep tissue injury in rats. The proposed setup allows for MRE investigations combined with damage-inducing large strain indentation of the Tibialis Anterior muscle in the rat hind leg inside a small animal MR scanner. An alginate cast allowed proper fixation of the animal leg with anatomical perfect fit, provided boundary condition information for FEA and provided good susceptibility matching. MR Elastography data could be recorded for the Tibialis Anterior muscle prior to, during, and after indentation. A decaying shear wave with an average amplitude of approximately 2 μm propagated in the whole muscle. MRE elastograms representing local tissue shear storage modulus G_d showed significant increased mean values due to damage-inducing indentation (from 4.2 ± 0.1 kPa before to 5.1 ± 0.6 kPa after, p<0.05). The proposed setup enables controlled deformation under MRI-guidance, monitoring of the wound development by MRI, and quantification of tissue mechanical properties by MRE. We expect that improved knowledge of changes in soft tissue mechanical properties due to deep tissue injury, will provide new insights in the etiology of deep tissue injuries, skeletal muscle damage and other related muscle pathologies.

Multi-Indenter Device for in Vivo Biomechanical Tissue Measurement

Biomechanical tissue properties have been hypothesized to play a critical role in the quantification of prosthetic socket production for individuals with limb amputation. In this investigation, a novel indenter platform is presented and its performance evaluated for the purposes of residual-limb tissue characterization. The indenter comprised 14 position- and force-controllable actuators that circumferentially surround a biological residuum to form an actuator ring. Each indenter actuator was individually controllable in position ( [Formula: see text] accuracy) and force (330 mN accuracy) at a PC controller feedback rate of 500 Hz, allowing for a range of measurement across a residual stump. Data were collected from 162 sensors over an EtherCAT fieldbus to characterize the mechanical hyperviscoelastic tissue response of two transtibial residual-limbs from a study participant with bilateral amputations. At five distinct anatomical locations across the residual-limb, force versus deflection data-including hyperviscoelastic tissue properties-are presented, demonstrating the accuracy and versatility of the multi-indenter platform for residual-limb tissue characterization.

A low-cost, high-field-strength magnetic resonance imaging-compatible actuator

To perform minimally invasive surgical interventions with the aid of robotic systems within a magnetic resonance imaging scanner offers significant advantages compared to conventional surgery. However, despite the numerous exciting potential applications of this technology, the introduction of magnetic resonance imaging-compatible robotics has been hampered by safety, reliability and cost concerns: the robots should not be attracted by the strong magnetic field of the scanner and should operate reliably in the field without causing distortion to the scan data. Development of non-conventional sensors and/or actuators is thus required to meet these strict operational and safety requirements. These demands commonly result in expensive actuators, which mean that cost effectiveness remains a major challenge for such robotic systems. This work presents a low-cost, high-field-strength magnetic resonance imaging-compatible actuator: a pneumatic stepper motor which is controllable in open loop or closed loop, along with a rotary encoder, both fully manufactured in plastic, which are shown to perform reliably via a set of in vitro trials while generating negligible artifacts when imaged within a standard clinical scanner.

Method of simultaneous measurement of two direction force and temperature using FBG sensor head

This paper presents a method for measuring two components of bending force and temperature using one sensor head. Indirect inference based on the spectra of two fiber Bragg gratings (FBGs) placed on a cantilever beam is used. The method was developed during work on the inverse problem of determining a nonuniform stress distribution based on FBG spectra. A gradient in the FBG stress profile results in a characteristic shape of its reflective spectrum. The simultaneous measurements of force and temperature were possible through the use of an appropriate layout of the sensor head. The spectral characteristics of the sensor's gratings do not retain full symmetry, which is due to the geometry of the sensor's head and the related difference in the distribution of the axial stress of the gratings. In the proposed approach, the change in width of the sum of the normalized transmission spectra was used to determine the value of the applied force. In the presented method, an increase in the sensitivity of this change to the force is obtained relative to the other known systems. A change in the spectral width was observed for an increase in bending forces from 0 to 150 N. The sensitivity coefficient of the spectral width to force, defined as the ratio of the change of the spectral half-width to the change in force was 2.6e-3  nm/N for the first grating and 1.2e-3  nm/N for the second grating. However, the sensitivity of the whole sensor system was 5.8e-3  nm/N, which is greater than the sum of the sensitivities of the individual gratings. For the purpose of this work, a station with a thermal chamber has been designed with a bracket on which fiber optic transducers have been mounted for use in further measurements. The sensor head in this experiment is considered to be a universal device with potential applications in other types of optical sensors, and it can be treated as a module for development through its multiplication on a single optical fiber.

Body-monitoring and health supervision by means of optical fiber-based sensing systems in medical textiles

Long-term monitoring with optical fibers has moved into the focus of attention due to the applicability for medical measurements. Within this Review, setups of flexible, unobtrusive body-monitoring systems based on optical fibers and the respective measured vital parameters are in focus. Optical principles are discussed as well as the interaction of light with tissue. Optical fiber-based sensors that are already used in first trials are primarily selected for the section on possible applications. These medical textiles include the supervision of respiration, cardiac output, blood pressure, blood flow and its saturation with hemoglobin as well as oxygen, pressure, shear stress, mobility, gait, temperature, and electrolyte balance. The implementation of these sensor concepts prompts the development of wearable smart textiles. Thus, current sensing techniques and possibilities within photonic textiles are reviewed leading to multiparameter designs. Evaluation of these designs should show the great potential of optical fibers for the introduction into textiles especially due to the benefit of immunity to electromagnetic radiation. Still, further improvement of the signal-to-noise ratio is often necessary to develop a commercial monitoring system.

Development of an Inverse Approach for the Characterization of In Vivo Mechanical Properties of the Lower Limb Muscles

The purpose of this study was to develop an inverse method, coupling imaging techniques with numerical methods, to identify the muscle mechanical behavior. A finite element model updating (FEMU) was developed in three main interdependent steps. First, a 2D FE modeling, parameterized by a Neo-Hookean behavior (C10 and D), was developed from a segmented thigh muscle 1.5T MRI (magnetic resonance imaging). Thus, a displacement field was simulated for different static loadings (contention, compression, and indentation). Subsequently, the optimal mechanical test was determined from a sensitivity analysis. Second, ultrasound parameters (gain, dynamic, and frequency) were optimized on the thigh muscles in order to apply the digital image correlation (DIC), allowing the measurement of an experimental displacement field. Third, an inverse method was developed to identify the Neo-Hookean parameters (C10 and D) by performing a minimization of the distance between the simulated and measured displacement fields. To replace the experimental data and to quantify the identification error, a numerical example was developed. The result of the sensitivity analysis showed that the compression test was more adapted to identify the Neo-Hookean parameters. Ultrasound images were recorded with a frequency, gain, and dynamic of 9 MHz, 34 dB, 42 dB, respectively. In addition, the experimental noise on displacement field measurement was estimated to be 0.2 mm. The identification performed on the numerical example revealed a low error for the C10 (<3%) and D (<7%) parameters with the experimental noise. This methodology could have an impact in the scientific and medical fields. A better knowledge of the muscle behavior will help to follow treatment and to ensure accurate medical procedures during the use of robotic devices.

Optical fiber-based MR-compatible sensors for medical applications: an overview

During last decades, Magnetic Resonance (MR)--compatible sensors based on different techniques have been developed due to growing demand for application in medicine. There are several technological solutions to design MR-compatible sensors, among them, the one based on optical fibers presents several attractive features. The high elasticity and small size allow designing miniaturized fiber optic sensors (FOS) with metrological characteristics (e.g., accuracy, sensitivity, zero drift, and frequency response) adequate for most common medical applications; the immunity from electromagnetic interference and the absence of electrical connection to the patient make FOS suitable to be used in high electromagnetic field and intrinsically safer than conventional technologies. These two features further heightened the potential role of FOS in medicine making them especially attractive for application in MRI. This paper provides an overview of MR-compatible FOS, focusing on the sensors employed for measuring physical parameters in medicine (i.e., temperature, force, torque, strain, and position). The working principles of the most promising FOS are reviewed in terms of their relevant advantages and disadvantages, together with their applications in medicine.