A biomechanical model for real-time simulation of PMMA injection with haptics

Evaluation the injectability of injectable microparticle delivery systems on the basis of injection force and discharged rate

BACKGROUND

Subcutaneous injection of biopharmaceutical agents or microparticles is challenging due to issues with low injection efficiency and high residual amounts.

OBJECTIVE

This study aimed to determine the important factors affecting the injectability of microparticle delivery systems, establish a suitable injection system with lower injection force and higher discharge rate, and eventually develop a reliable injectability evaluation system for injectable microparticle delivery systems in vitro and in vivo.

METHODS

The effects of various parameters, including particle size, injection speed, concentration of microspheres suspension, vehicle viscosity, needle length and gauge were evaluated by measuring the injection force and discharge rate. The characteristics of microparticles and rheological measurement of the suspension systems were studied. A design of experiment approach was utilized to evaluate the interaction between the microsphere suspension, vehicle viscosity and needle gauges. Both in vitro sieve tests and in vivo tests in rats were conducted to evaluate injectability.

RESULTS

The in vitro test results showed that the vehicle viscosity and injection speed have varying effects on discharge rate and injection force, respectively. Particle size and needle gauge have substantial influence on injectability, larger particle size and smaller needle gauges resulting in poor injectability, while the needle gauge was found to have the greatest influence on injectability. Levonorgestrel (LNG) microsphere and glass bead were relatively uniform spherical, the glass bead had extremely smooth surface; while mesoporous silica had irregular shape. The settling rate of glass bead was the fastest, which was about 18 times faster than the LNG microsphere. The CMC-Na had a poor interaction with the LNG microspheres, glass bead and mesoporous silica and showed basically Newtonian behavior in the shear rate range of 0.1 s-1-100 s-1. When shear rate increased to more than 100 s-1, no obvious shear thinning behavior was observed. CMC-Na formed a nodule structure with whether LNG microspheres or the glass beads, which were much lower than that with the mesoporous silica in static state, among which the glass beads were the weakest. The viscosity of the suspension increased with the rising of the volume fraction of particles. Fundamentals of hydrodynamics in capillaries were referenced, such as Navier-Stokes Law equation, Krieger-Dougherty (K-D) equation, Hagen-Poiseuille equation. The best results achieved was using a suspension concentration of 120-240 mg /mL and a viscosity of 60 cP at 20 °C with 23-gauge needles. The optimized conditions were verified in vivo tests. It was proven that the LNG microsphere suspension had a good injectability when injected into subcutaneous tissue of rats.

CONCLUSION

The injection system of injectable microparticle delivery system with lower injection force and higher discharge rate was established and the evaluation method was suitable for the injectability evaluation both in vivo and in vitro. Improved injectability would promote the clinical translation of microparticle delivery systems.

A continuum mechanical porous media model for vertebroplasty: Numerical simulations and experimental validation

The outcome of vertebroplasty is hard to predict due to its dependence on complex factors like bone cement and marrow rheologies. Cement leakage could occur if the procedure is done incorrectly, potentially causing adverse complications. A reliable simulation could predict the patient-specific outcome preoperatively and avoid the risk of cement leakage. Therefore, the aim of this work was to introduce a computationally feasible and experimentally validated model for simulating vertebroplasty. The developed model is a multiphase continuum-mechanical macro-scale model based on the Theory of Porous Media. The related governing equations were discretized using a combined finite element-finite volume approach by the so-called Box discretization. Three different rheological upscaling methods were used to compare and determine the most suitable approach for this application. For validation, a benchmark experiment was set up and simulated using the model. The influence of bone marrow and parameters like permeability, porosity, etc., was investigated to study the effect of varying conditions on vertebroplasty. The presented model could realistically simulate the injection of bone cement in porous materials when used with the correct rheological upscaling models, of which the semi-analytical averaging of the viscosity gave the best results. The marrow viscosity is identified as the crucial reference to categorize bone cements as 'high- 'or 'low-' viscosity in the context of vertebroplasty. It is confirmed that a cement with higher viscosity than the marrow ensures stable development of the injection and a proper cement interdigitation inside the vertebra.

A novel and convenient method to evaluate bone cement distribution following percutaneous vertebral augmentation

A convenient method to evaluate bone cement distribution following vertebral augmentation is lacking, and therefore so is our understanding of the optimal distribution. To address these questions, we conducted a retrospective study using data from patients with a single-segment vertebral fracture who were treated with vertebral augmentation at our two hospitals. Five evaluation methods based on X-ray film were compared to determine the best evaluation method and the optimal cement distribution. Of the 263 patients included, 49 (18.63%) experienced re-collapse of treated vertebrae and 119 (45.25%) experienced new fractures during follow-up. A 12-score evaluation method (kappa value = 0.652) showed the largest area under the receiver operating characteristic curve for predicting new fractures (0.591) or re-collapse (0.933). In linear regression with the 12-score method, the bone cement distribution showed a negative correlation with the re-collapse of treated vertebra, but it showed a weak correlation with new fracture. The two prediction curves intersected at a score of 10. We conclude that an X-ray-based method for evaluation of bone cement distribution can be convenient and practical, and it can reliably predict risk of new fracture and re-collapse. The 12-score method showed the strongest predictive power, with a score of 10 suggesting optimal bone cement distribution.

VR and AR in human performance research―An NUS experience

With the mindset of constant improvement in efficiency and safety in the workspace and training in Singapore, there is a need to explore varying technologies and their capabilities to fulfil this need. The ability of Virtual Reality (VR) and Augmented Reality (AR) to create an immersive experience of tying the virtual and physical environments coupled with information filtering capabilities brings a possibility of introducing this technology into the training process and workspace. This paper surveys current research trends, findings and limitation of VR and AR in its effect on human performance, specifically in Singapore, and our experience in the National University of Singapore (NUS).

Bone cement modeling for percutaneous vertebroplasty

Vertebroplasty procedures provide a significant benefit for patients suffering from vertebral fractures. In order to address current issues of vertebroplasty procedures, an injection device able to control the bone cement viscosity has been developed. In addition, this device allows to protect the practitioner by removing him/her from the X-rays area. In this context, a study is first proposed to quantify the bone cement viscosity during its polymerization reaction on a rotational rheometer. These experimental measurements have led to the identification of a complete behavior law that takes into account the simultaneous effects of shear rate, time, and temperature. Based on this preliminary study, this article finally aims to prove the ability of estimating the viscosity of the flowing bone cement on the developed injection system. A final set of experiments validates that the injection device dedicated to vertebroplasty procedures can control the flowing bone cement viscosity by acting on the temperature. © 2018 Wiley Periodicals, Inc. J Biomed Mater Res Part B: Appl Biomater 107B: 1504-1515, 2019.

An Imaging and Histological Study on Intrahepatic Microvascular Passage of Contrast Materials in Rat Liver

Background. Lipiodol has been applied for decades in transarterial chemoembolization to treat liver malignancies, but its intrahepatic pathway through arterioportal shunt (APS) in the liver has not been histologically revealed. This rodent experiment was conducted to provide evidence for the pathway of Lipiodol delivered through the hepatic artery (HA) but found in the portal vein (PV) and to elucidate the observed unidirectional APS. Methods. Thirty rats were divided into 5 groups receiving systemic or local arterial infusion of red-stained iodized oil (RIO) or its hydrosoluble substitute barium sulfate suspension (BSS), or infusion of BSS via the PV, monitored by real-time digital radiography. Histomorphology of serial frozen and paraffin sections was performed and quantified. Results. After HA infusion, RIO and BSS appeared extensively in PV lumens with peribiliary vascular plexus (PVP) identified as the responsible anastomotic channel. After PV infusion, BSS appeared predominantly in the PV and surrounding sinusoids and to a much lesser extent in the PVP and HA (P < 0.001). Fluid mechanics well explains the one-way-valve phenomenon of APS. Conclusions. Intravascularly injected rat livers provide histomorphologic evidences: (1) the PVP exists in between the HA and PV, which is responsible to the APS of Lipiodol; and (2) the intrahepatic vascular inflow appears HA-PVP-PV unidirectional without a physical one-way valve, which can be postulated by the fluid mechanics.

Inexpensive bone cement substitute for vertebral cement augmentation training

Vertebral compression fractures are treated surgically for approximately 25 years. In percutaneous cement augmentation techniques bone cement is applied to a fractured vertebra under fluoroscopic evidence to stabilize the bone fragments. Complications due to leakage of the low viscosity bone cement are reported in 5 to 15% of all routine cases. During the intraoperative application of bone cement surgeons rely on visiohaptic feedback and hence need to be familiar with the cement's rheology properties. Therefore, training is necessary. A hybrid simulator for cement augmentation training was developed but the usage of expensive real cement limits its purpose as a training modality. Twentythree inexpensive bone substitutes were developed and tested with the objective to mimic real bone cement. Cement application measurements were conducted and a mathematical model of the measurement setup was created. Compared with real bone cement, a cement substitute based on Technovit 3040 in combination with radical catchers and additional additives was identified as an appropriate substitute for cement augmentation training.

A Review of PMMA Bone Cement and Intra-Cardiac Embolism

Percutaneous vertebroplasty procedure is of major importance, given the significantly increasing aging population and the higher number of orthopedic procedures related to vertebral compression fractures. Vertebroplasty is a complex technique involving the injection of polymethylmethacrylate (PMMA) into the compressed vertebral body for mechanical stabilization of the fracture. Our understanding and ability to modify these mechanisms through alterations in cement material is rapidly evolving. However, the rate of cardiac complications secondary to PMMA injection and subsequent cement leakage has increased with time. The following review considers the main effects of PMMA bone cement on the heart, and the extent of influence of the materials on cardiac embolism. Clinically, cement leakage results in life-threatening cardiac injury. The convolution of this outcome through an appropriate balance of complex material properties is highlighted via clinical case reports.

Computer Simulation and Analysis on Flow Characteristics and Distribution Patterns of Polymethylmethacrylate in Lumbar Vertebral Body and Vertebral Pedicle

This study was designed to analyze the flow and distribution of polymethylmethacrylate (PMMA) in vertebral body through computer simulation. Cadaveric lumbar vertebrae were scanned through electron beam tomography (EBT). The data was imported into Mimics software to build computational model. Vertebral body center and junction of pedicle and vertebral body were chosen as injection points. Silicone oil with viscosity of 100,000 cSt matching with PMMA bone cement was chosen for injection. The flow and distribution of silicone oil were analyzed using Fluent software. In vertebral body, silicone oil formed a circle-like shape centered by injection point on transverse and longitudinal sections, finally forming a sphere-like shape as a whole. Silicone oil diffused along lateral and posterior walls forming a circle-like shape on transverse section centered by injection point in pedicle, eventually forming a sphere-like shape as a whole. This study demonstrated that silicone oil flowed and diffused into a circle-like shape centered by injection point and finally formed a sphere-like shape as a whole in both vertebral body and pedicle. The flow and distribution of silicon oil in computational model could simulate PMMA distribution in vertebral body. It may provide theoretical evidence to reduce PMMA leakage risk during percutaneous vertebroplasty.

Computational modelling of bone augmentation in the spine

Computational models are gaining importance not only for basic science, but also for the analysis of clinical interventions and to support clinicians prior to intervention. Vertebroplasty has been used to stabilise compression fractures in the spine for years, yet there are still diverging ideas on the ideal deposition location, volume, and augmentation material. In particular, little is known about the long-term effects of the intervention on the surrounding biological tissue. This review aims to investigate computational efforts made in the field of vertebroplasty, from the augmentation procedure to strength prediction and long-term in silico bone biology in augmented human vertebrae. While there is ample work on simulating the augmentation procedure and strength prediction, simulations predicting long-term effects are lacking. Recent developments in bone remodelling simulations have the potential to show adaptation to cement augmentation and, thus, close this gap.

Multiphasic modelling of bone-cement injection into vertebral cancellous bone

Percutaneous vertebroplasty represents a current procedure to effectively reinforce osteoporotic bone via the injection of bone cement. This contribution considers a continuum-mechanically based modelling approach and simulation techniques to predict the cement distributions within a vertebra during injection. To do so, experimental investigations, imaging data and image processing techniques are combined and exploited to extract necessary data from high-resolution μCT image data. The multiphasic model is based on the Theory of Porous Media, providing the theoretical basis to describe within one set of coupled equations the interaction of an elastically deformable solid skeleton, of liquid bone cement and the displacement of liquid bone marrow. The simulation results are validated against an experiment, in which bone cement was injected into a human vertebra under realistic conditions. The major advantage of this comprehensive modelling approach is the fact that one can not only predict the complex cement flow within an entire vertebra but is also capable of taking into account solid deformations in a fully coupled manner. The presented work is the first step towards the ultimate and future goal of extending this framework to a clinical tool allowing for pre-operative cement distribution predictions by means of numerical simulations.

Real-time rendering of drug injection and interactive simulation of vessel deformation using GPU

Developing patient specific model for the simulation of chemotherapy drug injection is important in medical application. This paper proposed a two-phase fluidic method to simulate chemotherapy drug injection and an improved lumped element method to simulate deformation of vessel at real-time by using GPU for general computing. Firstly, a three-dimensional (3-D) model of hepatic vessels is reconstructed from clinical CT-images using multi-layer method. A 3-D thinning algorithm based on Valence Driven Spatial Median (VDSM) is applied to generate unit-width skeleton of the vessel tree. The two-phase flow simulation of drug injection is based on Hagen-Poiseuille model by introducing a friction factor using bubbly flow Reynolds number. The improved lumped element method achieves good simulation realism at high computational speed to simulate deformable object. Real-time rendering and interaction of vessel deformation, self collision, and surface tearing has been realized and demonstrated in a virtual experiment.

Numerical description and experimental validation of a rheology model for non-Newtonian fluid flow in cancellous bone

Fluids present or used in biology, medicine and (biomedical) engineering are often significantly non-Newtonian. Furthermore, they are chemically complex and can interact with the porous matrix through which they flow. The porous structures themselves display complex morphological inhomogeneities on a wide range of length scales. In vertebroplasty, a shear-thinning fluid, e.g. poly(methyl methacrylate) (PMMA), is injected into the cavities of vertebral trabecular bone for the stabilization of fractures and metastatic lesions. The main objective of this study was therefore to provide a protocol for numerically investigating the rheological properties of PMMA-based bone cements to predict its spreading behavior while flowing through vertebral trabecular bone. A numerical upscaling scheme based on a dimensionless formulation of the Navier-Stokes equation is proposed in order to relate the pore-scale rheological properties of the PMMA that were experimentally estimated using a plate rheometer, to the continuum-scale. On the pore length scale, a viscosity change on the order of one magnitude was observed whilst the shear-thinning properties caused a viscosity change on the order of only 10% on the continuum length scale and in a flow regime that is relevant for vertebroplasty. An experimental validation, performed on human cadaveric vertebrae (n=9), showed a significant improvement of the cement spreading prediction accuracy with a non-Newtonian formulation. A root mean square cement surface prediction error of 1.53mm (assuming a Newtonian fluid) and 1.37mm (assuming a shear-thinning fluid) was found. Our findings highlight the importance of incorporating the non-Newtonian fluids properties in computational models of porous media at the appropriate length scale.

A Particle Model for Prediction of Cement Infiltration of Cancellous Bone in Osteoporotic Bone Augmentation

Femoroplasty is a potential preventive treatment for osteoporotic hip fractures. It involves augmenting mechanical properties of the femur by injecting Polymethylmethacrylate (PMMA) bone cement. To reduce the risks involved and maximize the outcome, however, the procedure needs to be carefully planned and executed. An important part of the planning system is predicting infiltration of cement into the porous medium of cancellous bone. We used the method of Smoothed Particle Hydrodynamics (SPH) to model the flow of PMMA inside porous media. We modified the standard formulation of SPH to incorporate the extreme viscosities associated with bone cement. Darcy creeping flow of fluids through isotropic porous media was simulated and the results were compared with those reported in the literature. Further validation involved injecting PMMA cement inside porous foam blocks — osteoporotic cancellous bone surrogates — and simulating the injections using our proposed SPH model. Millimeter accuracy was obtained in comparing the simulated and actual cement shapes. Also, strong correlations were found between the simulated and the experimental data of spreading distance (R² = 0.86) and normalized pressure (R² = 0.90). Results suggest that the proposed model is suitable for use in an osteoporotic femoral augmentation planning framework.

Percutaneous spinal fixation simulation with virtual reality and haptics

BACKGROUND

In this study, we evaluated the use of a part-task simulator with 3-dimensional and haptic feedback as a training tool for percutaneous spinal needle placement.

OBJECTIVE

To evaluate the learning effectiveness in terms of entry point/target point accuracy of percutaneous spinal needle placement on a high-performance augmented-reality and haptic technology workstation with the ability to control the duration of computer-simulated fluoroscopic exposure, thereby simulating an actual situation.

METHODS

Sixty-three fellows and residents performed needle placement on the simulator. A virtual needle was percutaneously inserted into a virtual patient's thoracic spine derived from an actual patient computed tomography data set.

RESULTS

Ten of 126 needle placement attempts by 63 participants ended in failure for a failure rate of 7.93%. From all 126 needle insertions, the average error (15.69 vs 13.91), average fluoroscopy exposure (4.6 vs 3.92), and average individual performance score (32.39 vs 30.71) improved from the first to the second attempt. Performance accuracy yielded P = .04 from a 2-sample t test in which the rejected null hypothesis assumes no improvement in performance accuracy from the first to second attempt in the test session.

CONCLUSION

The experiments showed evidence (P = .04) of performance accuracy improvement from the first to the second percutaneous needle placement attempt. This result, combined with previous learning retention and/or face validity results of using the simulator for open thoracic pedicle screw placement and ventriculostomy catheter placement, supports the efficacy of augmented reality and haptics simulation as a learning tool.

A comparison and verification of computational methods to determine the permeability of vertebral trabecular bone

Fluid flow in the intertrabecular spaces of vertebral bone has been implicated in a number of physiological phenomena. Despite the potential clinical significance of the flow of various fluids through the intertrabecular cavities, the intrinsic permeability of trabecular bone is not fully characterized or understood. Furthermore, very little is known about the interdependence of permeability and morphological parameters. The main purpose of this study is to characterize computational methods to determine intrinsic bone permeability from three-dimensional computed tomography (CT) image stacks that were, depending on the underlying algorithm of each model, acquired at a spatial resolution ranging from the order of 500 μm (macroscale) up to 10 μm (microscale). A Finite Element formulation of the steady-state Stokes flow and an in house developed pore network modeling approach compute permeability on the microscopic length scale. To approximate the geometry of the trabecular bone network, a cellular model is used to map morphological information into intrinsic permeability by means of a log-linear regression equation. If the image resolution is too low for the quantification of the trabecular bone architecture, permeability is directly derived by fitting a simplified version of the log-linear regression equation to the CT Hounsfield values. Depending on the resolution of the raw image data and the chosen model, permeability value correlations are 0.31 ≤ R2 ≤ 0.90 compared to the Finite Element method, that is referred to as the baseline for any comparisons in this study. Furthermore, we found no significant dependence of the intrinsic permeability on the trabecular thickness parameter.

A Mixed Boundary Representation to Simulate the Displacement of a Biofluid by a Biomaterial in Porous Media

Characterization of the biomaterial flow through porous bone is crucial for the success of the bone augmentation process in vertebroplasty. The biofluid, biomaterial, and local morphological bone characteristics determine the final shape of the filling, which is important both for the post-treatment mechanical loading and the risk of intraoperative extraosseous leakage. We have developed a computational model that describes the flow of biomaterials in porous bone structures by considering the material porosity, the region-dependent intrinsic permeability of the porous structure, the rheological properties of the biomaterial, and the boundary conditions of the filling process. To simulate the process of the substitution of a biofluid (bone marrow) by a biomaterial (bone cement), we developed a hybrid formulation to describe the evolution of the fluid boundary and properties and coupled it to a modified version of Darcy’s law. The apparent rheological properties are derived from a fluid-fluid interface tracking algorithm and a mixed boundary representation. The region- specific intrinsic permeability of the bone is governed by an empirical relationship resulting from a fitting process of experimental data. In a first step, we verified the model by studying the displacement process in spherical domains, where the spreading pattern is known in advance. The mixed boundary model demonstrated, as expected, that the determinants of the spreading pattern are the local intrinsic permeability of the porous matrix and the ratio of the viscosity of the fluids that are contributing to the displacement process. The simulations also illustrate the sensitivity of the mixed boundary representation to anisotropic permeability, which is related to the directional dependent microstructural properties of the porous medium. Furthermore, we compared the nonlinear finite element model to different published experimental studies and found a moderate to good agreement (R2=0.9895 for a one-dimensional bone core infiltration test and a 10.94–16.92% relative error for a three-dimensional spreading pattern study, respectively) between computational and experimental results.