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Harun A, Bendele N, Khalil MI, Vasquez I, Djuanda J, Posey R, Rashid MH, Christopher GF, Bickel U, Gruev V, Tropp J, Egan PF, Srivastava I. 3D Tumor-Mimicking Phantom Models for Assessing NIR I/II Nanoparticles in Fluorescence-Guided Surgical Interventions. ACS NANO 2025. [PMID: 40378397 DOI: 10.1021/acsnano.5c01919] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 05/18/2025]
Abstract
Fluorescence image-guided surgery (FIGS) offers high spatial resolution and real-time feedback but is limited by shallow tissue penetration and autofluorescence from current clinically approved fluorophores. The near-infrared (NIR) spectrum, specifically the NIR-I (700-900 nm) and NIR-II (950-1700 nm), addresses these limitations with deeper tissue penetration and improved signal-to-noise ratios. However, biological barriers and suboptimal optical performance under surgical conditions have hindered the clinical translation of NIR-I/II nanoprobes. In vivo mouse models have shown promise, but these models do not replicate the complex optical scenarios encountered during real-world surgeries. Existing tissue-mimicking phantoms used to evaluate NIR-I/II imaging systems are useful but fall short when assessing nanoprobes in surgical environments. These phantoms often fail to replicate the tumor microenvironment, limiting their predictive assessment. To overcome these challenges, we propose developing tumor-mimicking phantom models (TMPs) that integrate key tumor features, such as tunable tumor cell densities, in vivo-like nanoparticle concentrations, biologically relevant factors (pH, enzymes), replicate light absorption components (hemoglobin), and light scattering components (intralipid). These TMPs enable more clinically relevant assessments of NIR-I/II nanoprobes, including optical tissue penetration profiling, tumor margin delineation, and ex vivo thoracic surgery on porcine lungs. The components of TMPs can be further modulated to closely match the optical profiles of in vivo and ex vivo tumors. Additionally, 3D bioprinting technology facilitates a high-throughput platform for screening nanoprobes under realistic conditions. This approach will identify high-performing NIR-I/II probes with superior surgical utility, bridging the gap between preclinical findings and clinical applications, and ensuring results extend beyond traditional in vivo mouse studies.
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Affiliation(s)
- Asma Harun
- Department of Mechanical Engineering, Edward E. Whitacre Jr. College of Engineering, Texas Tech University, Lubbock, Texas 79409, United States
- Texas Center for Comparative Cancer Research (TC3R), Amarillo, Texas 79106, United States
| | - Nathaniel Bendele
- Department of Mechanical Engineering, Edward E. Whitacre Jr. College of Engineering, Texas Tech University, Lubbock, Texas 79409, United States
- Department of Chemistry & Biochemistry, Texas Tech University, Lubbock, Texas 79409, United States
| | - Mohammad Ibrahim Khalil
- Department of Mechanical Engineering, Edward E. Whitacre Jr. College of Engineering, Texas Tech University, Lubbock, Texas 79409, United States
| | - Isabella Vasquez
- Department of Mechanical Engineering, Edward E. Whitacre Jr. College of Engineering, Texas Tech University, Lubbock, Texas 79409, United States
- Department of Chemistry & Biochemistry, Texas Tech University, Lubbock, Texas 79409, United States
- Texas Center for Comparative Cancer Research (TC3R), Amarillo, Texas 79106, United States
| | - Jonathan Djuanda
- Department of Mechanical Engineering, Edward E. Whitacre Jr. College of Engineering, Texas Tech University, Lubbock, Texas 79409, United States
- Department of Chemistry & Biochemistry, Texas Tech University, Lubbock, Texas 79409, United States
| | - Robert Posey
- Department of Chemistry & Biochemistry, Texas Tech University, Lubbock, Texas 79409, United States
| | - Md Hasnat Rashid
- Department of Mechanical Engineering, Edward E. Whitacre Jr. College of Engineering, Texas Tech University, Lubbock, Texas 79409, United States
| | - Gordon F Christopher
- Department of Mechanical Engineering, Edward E. Whitacre Jr. College of Engineering, Texas Tech University, Lubbock, Texas 79409, United States
| | - Ulrich Bickel
- Texas Center for Comparative Cancer Research (TC3R), Amarillo, Texas 79106, United States
- Department of Pharmaceutical Sciences, Jerry H. Hodge School of Pharmacy, Texas Tech University Health Science Center, Amarillo, Texas 79106, United States
| | - Viktor Gruev
- Department of Electrical and Computer Engineering and Carle Illinois College of Medicine, University of Illinois at Urbana-Champaign, Urbana, Illinois 61801, United States
| | - Joshua Tropp
- Department of Chemistry & Biochemistry, Texas Tech University, Lubbock, Texas 79409, United States
- Texas Center for Comparative Cancer Research (TC3R), Amarillo, Texas 79106, United States
| | - Paul F Egan
- Department of Mechanical Engineering, Edward E. Whitacre Jr. College of Engineering, Texas Tech University, Lubbock, Texas 79409, United States
| | - Indrajit Srivastava
- Department of Mechanical Engineering, Edward E. Whitacre Jr. College of Engineering, Texas Tech University, Lubbock, Texas 79409, United States
- Texas Center for Comparative Cancer Research (TC3R), Amarillo, Texas 79106, United States
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Kim J, Oh S, Avila R, Shin HS, Banet M, Wicks J, Banks AR, Huang Y, Yoo JY, Robinson DT, Garfield CF, Rogers JA. A compact, wireless system for continuous monitoring of breast milk expressed during breastfeeding. Nat Biomed Eng 2025:10.1038/s41551-025-01393-w. [PMID: 40369184 DOI: 10.1038/s41551-025-01393-w] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 05/20/2024] [Accepted: 04/07/2025] [Indexed: 05/16/2025]
Abstract
Human milk is the ideal source of nutrition for infants. Most health organizations recommend direct breastfeeding from the first hour of life, extending throughout the first and second year. However, uncertainties regarding the volumes of milk ingested by the infant contribute to suboptimal rates of breastfeeding. Here we introduce a compact and unobtrusive device that gently interfaces to the breast via four electrodes and accurately measures expressed milk volume during breastfeeding through changes in the alternating current impedance. The data pass wirelessly to a smartphone continuously throughout each breastfeeding session for real-time graphical display. Comprehensive experimental and computational results establish the operating principles and guide engineering choices for optimized performance. Evaluations with 12 breastfeeding mothers over periods of as long as 17 weeks in the neonatal intensive care unit and in home settings illustrate the practical utility of this technology in addressing a critically important unmet need in maternal and neonatal care.
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Affiliation(s)
- Jihye Kim
- Department of Molecular Science and Technology, Ajou University, Suwon, Republic of Korea
- Advanced College of Bio-convergence Engineering, Ajou University, Suwon, Republic of Korea
| | - Seyong Oh
- Querrey Simpson Institute for Bioelectronics, Northwestern University, Evanston, IL, USA
- Division of Electrical Engineering, Hanyang University ERICA, Ansan, Republic of Korea
| | - Raudel Avila
- Department of Mechanical Engineering, William Marsh Rice University, Houston, TX, USA
| | - Hee-Sup Shin
- Querrey Simpson Institute for Bioelectronics, Northwestern University, Evanston, IL, USA
- School of Science and Engineering, University of Missouri, Kansas City, MO, USA
| | | | - Jennifer Wicks
- Department of Pediatrics, Feinberg School of Medicine, Northwestern University, Chicago, IL, USA
- Ann and Robert H. Lurie Children's Hospital of Chicago, Chicago, IL, USA
| | - Anthony R Banks
- Querrey Simpson Institute for Bioelectronics, Northwestern University, Evanston, IL, USA
| | - Yonggang Huang
- Querrey Simpson Institute for Bioelectronics, Northwestern University, Evanston, IL, USA
- Department of Mechanical Engineering, Northwestern University, Evanston, IL, USA
- Department of Civil and Environmental Engineering, Northwestern University, Evanston, IL, USA
- Department of Material Science and Engineering, Northwestern University, Evanston, IL, USA
| | - Jae-Young Yoo
- Department of Semiconductor Convergence Engineering, Sungkyunkwan University, Suwon, Republic of Korea.
| | - Daniel T Robinson
- Department of Pediatrics, Feinberg School of Medicine, Northwestern University, Chicago, IL, USA.
- Ann and Robert H. Lurie Children's Hospital of Chicago, Chicago, IL, USA.
| | - Craig F Garfield
- Department of Pediatrics, Feinberg School of Medicine, Northwestern University, Chicago, IL, USA.
- Ann and Robert H. Lurie Children's Hospital of Chicago, Chicago, IL, USA.
| | - John A Rogers
- Querrey Simpson Institute for Bioelectronics, Northwestern University, Evanston, IL, USA.
- Department of Material Science and Engineering, Northwestern University, Evanston, IL, USA.
- Department of Semiconductor Convergence Engineering, Sungkyunkwan University, Suwon, Republic of Korea.
- Department of Biomedical Engineering, Northwestern University, Evanston, IL, USA.
- Department of Neurological Surgery, Feinberg School of Medicine, Northwestern University, Chicago, IL, USA.
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Tukimin SN, Karman SB, Wan Kamarul Zaman WS, Mohd Yunos NB, Syed Nor SN, Ahmad MY. The angle of polarized light (AOP) property for optical classification of the crosslinked polymer. SPECTROCHIMICA ACTA. PART A, MOLECULAR AND BIOMOLECULAR SPECTROSCOPY 2025; 330:125503. [PMID: 39842129 DOI: 10.1016/j.saa.2024.125503] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Received: 02/24/2024] [Revised: 10/12/2024] [Accepted: 11/25/2024] [Indexed: 01/24/2025]
Abstract
Light-matter interaction has been profoundly studied for sample material classification. However, the optical classification of the sample through the polarized light-matter interaction remains underexplored. It is limited to the measurement of intensity instead of the angle of polarized light (AOP) for its degree of polarization. Measurement of the degree of polarization within a material or a medium becomes easier with a simple, low-cost and direct measurement without the need of any probing or labelling agent. Thus, this investigation was conducted mainly to determine the angle of polarized light (AOP) property of the crosslinked polymer using our proposed polarization measurement technique as an alternative approach of the material classification. The angle of polarized light (AOP) of each polymer was determined in combination property of polarization by absorption, transmission, and scattering. Our proposed scattered angle (ס=90°, 100°, 110°, and 120°) successfully measured the AOP of each polymer that can be classified into two groups. Group 1 represents the AOP value ( [Formula: see text] ) for a test sample of t1 = 3.1 %, 3.2, and 3.3 % with comparison to the normal sample (n = 3.0 %) and Group 2 represents the AOP value ( [Formula: see text] ) for the test sample oft2 = 3.4 %, 3.6 % and 3.7 % with comparison to the normal sample (n = 3.0 %). Our study proved a direct, easy, and simple method of determining the degree of polarization of the polymers without the need of complex formulation and labelling protocol. Therefore, this work may enhance the investigation of the optical properties of the agarose-based tissue-mimicking phantom (AGTMP) for modeling or simulation of the real biological sample in the future. Our polarization measures are worthy of further explored and implemented in current optical imaging techniques or sensing platform for optical classification of the biomaterials.
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Affiliation(s)
- Siti Nurainie Tukimin
- Department of Biomedical Engineering, Faculty of Engineering, Universiti Malaya, Federal Territory of Kuala Lumpur, Kuala Lumpur 50603 Malaysia.
| | - Salmah Binti Karman
- Department of Biomedical Engineering, Faculty of Engineering, Universiti Malaya, Federal Territory of Kuala Lumpur, Kuala Lumpur 50603 Malaysia.
| | - Wan Safwani Wan Kamarul Zaman
- Department of Pharmaceutical Life Sciences, Faculty of Pharmacy, Universiti Malaya, Federal Territory of Kuala Lumpur, Kuala Lumpur 50603 Malaysia
| | - Nuranisha Binti Mohd Yunos
- Department of Biomedical Engineering, Faculty of Engineering, Universiti Malaya, Federal Territory of Kuala Lumpur, Kuala Lumpur 50603 Malaysia
| | - Sharifah Norsyahindah Syed Nor
- Department of Biomedical Engineering, Faculty of Engineering, Universiti Malaya, Federal Territory of Kuala Lumpur, Kuala Lumpur 50603 Malaysia
| | - Mohd Yazed Ahmad
- Department of Biomedical Engineering, Faculty of Engineering, Universiti Malaya, Federal Territory of Kuala Lumpur, Kuala Lumpur 50603 Malaysia
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Bloemberg J, van Wees S, Kortman VG, Sakes A. Design of a wasp-inspired biopsy needle capable of self-propulsion and friction-based tissue transport. Front Bioeng Biotechnol 2025; 12:1497221. [PMID: 39834634 PMCID: PMC11743259 DOI: 10.3389/fbioe.2024.1497221] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 09/16/2024] [Accepted: 12/02/2024] [Indexed: 01/22/2025] Open
Abstract
Percutaneous pancreatic core biopsy is conclusive but challenging due to large-diameter needles, while smaller-diameter needles used in aspiration methods suffer from buckling and clogging. Inspired by the ovipositor of parasitic wasps, which resists buckling through self-propulsion and prevents clogging via friction-based transport, research has led to the integration of these functionalities into multi-segment needle designs or tissue transport system designs. This study aimed to combine these wasp-inspired functionalities into a single biopsy needle by changing the interconnection of the needle segments. The resulting biopsy needle features six parallel needle segments interconnected by a ring passing through slots along the length of the needle segments, enabling a wasp-inspired reciprocating motion. Actuation employs a cam and follower mechanism for controlled translation of the segments. The needle prototype, constructed from nitinol rods and stainless steel rings, measures 3 mm in outer diameter and 1 mm in inner diameter. Testing in gelatin phantoms demonstrated efficient gelatin core transport (up to 69.9% ± 9.1% transport efficiency) and self-propulsion (0.842 ± 0.042 slip ratio). Future iterations should aim to reduce the outer diameter while maintaining tissue yield. The design offers a promising new avenue for wasp-inspired medical tools, potentially enhancing early pancreatic cancer detection, thus reducing healthcare costs and patient complications.
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Affiliation(s)
- Jette Bloemberg
- Department of BioMechanical Engineering, Bio-Inspired Technology Group, Faculty of Mechanical Engineering, Delft University of Technology, Delft, Netherlands
| | - Suzanne van Wees
- Department of BioMechanical Engineering, Bio-Inspired Technology Group, Faculty of Mechanical Engineering, Delft University of Technology, Delft, Netherlands
- Department of Biomedical Engineering, Faculty of Science and Engineering, University of Groningen, Groningen, Netherlands
| | - Vera G. Kortman
- Department of BioMechanical Engineering, Bio-Inspired Technology Group, Faculty of Mechanical Engineering, Delft University of Technology, Delft, Netherlands
| | - Aimée Sakes
- Department of BioMechanical Engineering, Bio-Inspired Technology Group, Faculty of Mechanical Engineering, Delft University of Technology, Delft, Netherlands
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Wagner M, Fugger O, Foschum F, Kienle A. Development of silicone-based phantoms for biomedical optics from 400 to 1550 nm. BIOMEDICAL OPTICS EXPRESS 2024; 15:6561-6572. [PMID: 39553884 PMCID: PMC11563330 DOI: 10.1364/boe.533481] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 06/25/2024] [Revised: 08/23/2024] [Accepted: 08/25/2024] [Indexed: 11/19/2024]
Abstract
This work describes the development of silicone-based evaluation phantoms for biomedical optics in the wavelength range from 400 to 1550 nm. The absorption coefficient μ a and the reduced scattering coefficient μ s ' were determined using an integrating sphere setup. Zirconium dioxide pigments were used as scatterers and carbon black as absorbers. We developed an in-house manufacturing process using a Hauschild SpeedMixer to ensure reproducibility. A set of nine cubic phantoms with three different reduced scattering and absorption coefficients was produced. Prediction of the μ a and μ s ' was done by using the weighted mass concentrations of the used materials. The average prediction accuracy over all wavelengths and phantoms is 1.0% for the reduced scattering coefficient and 3.5% for the absorption coefficient.
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Affiliation(s)
- Markus Wagner
- Institut fuer Lasertechnologien in der Medizin und Meßtechnik an der Universität Ulm, Helmholtzstraße 12, Ulm, Germany
| | - Oliver Fugger
- Institut fuer Lasertechnologien in der Medizin und Meßtechnik an der Universität Ulm, Helmholtzstraße 12, Ulm, Germany
| | - Florian Foschum
- Institut fuer Lasertechnologien in der Medizin und Meßtechnik an der Universität Ulm, Helmholtzstraße 12, Ulm, Germany
| | - Alwin Kienle
- Institut fuer Lasertechnologien in der Medizin und Meßtechnik an der Universität Ulm, Helmholtzstraße 12, Ulm, Germany
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Amiri SA, Dankelman J, Hendriks BHW. Enhancing Intraoperative Tissue Identification: Investigating a Smart Electrosurgical Knife's Functionality During Electrosurgery. IEEE Trans Biomed Eng 2024; 71:2119-2130. [PMID: 38315599 DOI: 10.1109/tbme.2024.3362235] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 02/07/2024]
Abstract
OBJECTIVE Detecting the cancerous growth margin and achieving a negative margin is one of the challenges that surgeons face during cancer procedures. A smart electrosurgical knife with integrated optical fibers has been designed previously to enable real-time use of diffuse reflectance spectroscopy for intraoperative margin assessment. In this paper, the thermal effect of the electrosurgical knife on tissue sensing is investigated. METHODS Porcine tissues and phantoms were used to investigate the performance of the smart electrosurgical knife after electrosurgery. The fat-to-water content ratio (F/W-ratio) served as the discriminative parameter for distinguishing tissues and tissue mimicking phantoms with varying fat content. The F/W-ratio of tissues and phantoms was measured with the smart electrosurgical knife before and after 14 minutes of electrosurgery. Additionally, a layered porcine tissue and phantom were sliced and measured from top to bottom with the smart electrosurgical knife. RESULTS Mapping the thermal activity of the electrosurgical knife's electrode during animal tissue electrosurgery revealed temperatures exceeding 400 °C. Electrosurgery for 14 minutes had no impact on the device's accurate detection of the F/W-ratio. The smart electrosurgical knife enables real-time tissue detection and predicts the fat content of the next layer from 4 mm ahead. CONCLUSION The design of the smart electrosurgical knife outlined in this paper demonstrates its potential utility for tissue detection during electrosurgery. SIGNIFICANCE In the future, the smart electrosurgical knife could be a valuable intraoperative margin assessment tool, aiding surgeons in detecting tumor borders and achieving negative margins.
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Jackson CE, Doyle I, Khan H, Williams SF, Aldemir Dikici B, Barajas Ledesma E, Bryant HE, English WR, Green NH, Claeyssens F. Gelatin-containing porous polycaprolactone PolyHIPEs as substrates for 3D breast cancer cell culture and vascular infiltration. Front Bioeng Biotechnol 2024; 11:1321197. [PMID: 38260750 PMCID: PMC10800367 DOI: 10.3389/fbioe.2023.1321197] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 10/19/2023] [Accepted: 12/13/2023] [Indexed: 01/24/2024] Open
Abstract
Tumour survival and growth are reliant on angiogenesis, the formation of new blood vessels, to facilitate nutrient and waste exchange and, importantly, provide a route for metastasis from a primary to a secondary site. Whilst current models can ensure the transport and exchange of nutrients and waste via diffusion over distances greater than 200 μm, many lack sufficient vasculature capable of recapitulating the tumour microenvironment and, thus, metastasis. In this study, we utilise gelatin-containing polymerised high internal phase emulsion (polyHIPE) templated polycaprolactone-methacrylate (PCL-M) scaffolds to fabricate a composite material to support the 3D culture of MDA-MB-231 breast cancer cells and vascular ingrowth. Firstly, we investigated the effect of gelatin within the scaffolds on the mechanical and chemical properties using compression testing and FTIR spectroscopy, respectively. Initial in vitro assessment of cell metabolic activity and vascular endothelial growth factor expression demonstrated that gelatin-containing PCL-M polyHIPEs are capable of supporting 3D breast cancer cell growth. We then utilised the chick chorioallantoic membrane (CAM) assay to assess the angiogenic potential of cell-seeded gelatin-containing PCL-M polyHIPEs, and vascular ingrowth within cell-seeded, surfactant and gelatin-containing scaffolds was investigated via histological staining. Overall, our study proposes a promising composite material to fabricate a substrate to support the 3D culture of cancer cells and vascular ingrowth.
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Affiliation(s)
- Caitlin E. Jackson
- The Kroto Research Institute, Materials Science and Engineering, University of Sheffield, Sheffield, United Kingdom
- Insigneo Institute for in Silico Medicine, The Pam Liversidge Building, University of Sheffield, Sheffield, United Kingdom
| | - Iona Doyle
- The Kroto Research Institute, Materials Science and Engineering, University of Sheffield, Sheffield, United Kingdom
| | - Hamood Khan
- The Kroto Research Institute, Materials Science and Engineering, University of Sheffield, Sheffield, United Kingdom
| | - Samuel F. Williams
- Department of Infection, Immunity and Cardiovascular Disease, Royal Hallamshire Hospital, The University of Sheffield, Sheffield, United Kingdom
| | | | | | - Helen E. Bryant
- School of Medicine and Population Health, University of Sheffield, Sheffield, United Kingdom
| | - William R. English
- Norwich Medical School, University of East Anglia, Norwich, United Kingdom
| | - Nicola H. Green
- The Kroto Research Institute, Materials Science and Engineering, University of Sheffield, Sheffield, United Kingdom
- Insigneo Institute for in Silico Medicine, The Pam Liversidge Building, University of Sheffield, Sheffield, United Kingdom
| | - Frederik Claeyssens
- The Kroto Research Institute, Materials Science and Engineering, University of Sheffield, Sheffield, United Kingdom
- Insigneo Institute for in Silico Medicine, The Pam Liversidge Building, University of Sheffield, Sheffield, United Kingdom
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Losch MS, Kardux F, Dankelman J, Hendriks BHW. Diffuse reflectance spectroscopy of the spine: improved breach detection with angulated fibers. BIOMEDICAL OPTICS EXPRESS 2023; 14:739-750. [PMID: 36874502 PMCID: PMC9979673 DOI: 10.1364/boe.471725] [Citation(s) in RCA: 2] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Received: 08/17/2022] [Revised: 12/07/2022] [Accepted: 12/14/2022] [Indexed: 06/18/2023]
Abstract
Accuracy in spinal fusion varies greatly depending on the experience of the physician. Real-time tissue feedback with diffuse reflectance spectroscopy has been shown to provide cortical breach detection using a conventional probe with two parallel fibers. In this study, Monte Carlo simulations and optical phantom experiments were conducted to investigate how angulation of the emitting fiber affects the probed volume to allow for the detection of acute breaches. Difference in intensity magnitude between cancellous and cortical spectra increased with the fiber angle, suggesting that outward angulated fibers are beneficial in acute breach scenarios. Proximity to the cortical bone could be detected best with fibers angulated at θ f = 45 ∘ for impending breaches between θ p = 0 ∘ and θ p = 45 ∘ . An orthopedic surgical device comprising a third fiber perpendicular to the device axis could thus cover the full impending breach range from θ p = 0 ∘ to θ p = 90 ∘ .
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Affiliation(s)
- Merle S. Losch
- Department of Biomechanical Engineering, Delft University of Technology, Delft, The Netherlands
| | - Famke Kardux
- Department of Biomechanical Engineering, Delft University of Technology, Delft, The Netherlands
| | - Jenny Dankelman
- Department of Biomechanical Engineering, Delft University of Technology, Delft, The Netherlands
| | - Benno H. W. Hendriks
- Department of Biomechanical Engineering, Delft University of Technology, Delft, The Netherlands
- Image Guided Therapy and Ultrasound Devices
and System Department, Philips Research,
Royal Philips NV, Eindhoven, The
Netherlands
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