An Improved Strategy for Detection and Localization of Nodules in Liver Tissues by a 16 MHz Needle Ultrasonic Probe Mounted on a Robotic Platform.

This study presents an improved strategy for the detection and localization of small size nodules (down to few mm) of agar in excised pork liver tissues via pulse-echo ultrasound measurements performed with a 16 MHz needle probe. This work contributes to the development of a new generation of medical instruments to support robotic surgery decision processes that need information about cancerous tissues in a short time (minutes). The developed ultrasonic probe is part of a scanning platform designed for the automation of surgery-associated histological analyses. It was coupled with a force sensor to control the indentation of tissue samples placed on a steel plate. For the detection of nodules, we took advantage of the property of nodules of altering not only the acoustical properties of tissues producing ultrasound attenuation, but also of developing patterns at their boundary that can modify the shape and the amplitude of the received echo signals from the steel plate supporting the tissues. Besides the Correlation Index Amplitude (CIA), which is linked to the overall amplitude changes of the ultrasonic signals, we introduced the Correlation Index Shape (CIS) linked to their shape changes. Furthermore, we applied AND-OR logical operators to these correlation indices. The results were found particularly helpful in the localization of the irregular masses of agar we inserted into some excised liver tissues, and in the individuation of the regions of major interest over which perform the vertical dissections of tissues in an automated analysis finalized to histopathology. We correctly identified up to 89% of inclusions, with an improvement of about 14% with respect to the result obtained (78%) from the analysis performed with the CIA parameter only.

A Mechatronic Platform for Computer Aided Detection of Nodules in Anatomopathological Analyses via Stiffness and Ultrasound Measurements.

This study presents a platform for ex-vivo detection of cancer nodules, addressing automation of medical diagnoses in surgery and associated histological analyses. The proposed approach takes advantage of the property of cancer to alter the mechanical and acoustical properties of tissues, because of changes in stiffness and density. A force sensor and an ultrasound probe were combined to detect such alterations during force-regulated indentations. To explore the specimens, regardless of their orientation and shape, a scanned area of the test sample was defined using shape recognition applying optical background subtraction to the images captured by a camera. The motorized platform was validated using seven phantom tissues, simulating the mechanical and acoustical properties of ex-vivo diseased tissues, including stiffer nodules that can be encountered in pathological conditions during histological analyses. Results demonstrated the platform's ability to automatically explore and identify the inclusions in the phantom. Overall, the system was able to correctly identify up to 90.3% of the inclusions by means of stiffness in combination with ultrasound measurements, paving pathways towards robotic palpation during intraoperative examinations.

Haptic Glove and Platform with Gestural Control For Neuromorphic Tactile Sensory Feedback In Medical Telepresence †.

Advancements in the study of the human sense of touch are fueling the field of haptics. This is paving the way for augmenting sensory perception during object palpation in tele-surgery and reproducing the sensed information through tactile feedback. Here, we present a novel tele-palpation apparatus that enables the user to detect nodules with various distinct stiffness buried in an ad-hoc polymeric phantom. The contact force measured by the platform was encoded using a neuromorphic model and reproduced on the index fingertip of a remote user through a haptic glove embedding a piezoelectric disk. We assessed the effectiveness of this feedback in allowing nodule identification under two experimental conditions of real-time telepresence: In Line of Sight (ILS), where the platform was placed in the visible range of a user; and the more demanding Not In Line of Sight (NILS), with the platform and the user being 50 km apart. We found that the entailed percentage of identification was higher for stiffer inclusions with respect to the softer ones (average of 74% within the duration of the task), in both telepresence conditions evaluated. These promising results call for further exploration of tactile augmentation technology for telepresence in medical interventions.

High-resolution methods for fluorescence retrieval from space.

The retrieval from space of a very weak fluorescence signal was studied in the O(2)A and O(2)B oxygen atmospheric absorption bands. The accuracy of the method was tested for the retrieval of the chlorophyll fluorescence and reflectance terms contributing to the sensor signal. The radiance at the top of the atmosphere was simulated by means of a commercial radiative-transfer program at a high resolution (0.1 cm(-1)). A test data set was generated in order to simulate sun-induced chlorophyll fluorescence at the top of the canopy. Reflectance terms were spectrally modeled using cubic splines and fluorescence by means of the sum of two Voigt functions. Sensor radiance residual minimization was performed in the presence of a multiplicative noise, thus ensuring that the sensor simulations were realistic. The study, which focused on the possibility of retrieving fluorescence with an accuracy better than 10%, was performed for instrument resolutions ranging from about 0.4 cm(-1) to 2 cm(-1) in order to test the algorithm for the characteristics of existing and planned hyper-spectral sensors. The algorithm was also used to retrieve fluorescence in the single O(2)A band at the OCO and TANSO-FTS instrument spectral resolutions.

Hybrid organosilicon/polyol phantom for photoacoustic imaging.

The rapid development of hardware and software for photoacoustic technologies is urging the establishment of dedicated tools for standardization and performance assessment. In particular, the fabrication of anatomical phantoms for photoacoustic imaging remains an open question, as current solutions have not yet gained unanimous support. Here, we propose that a hybrid material made of a water-in-oil emulsion of glycerol and polydimethylsiloxane may represent a versatile platform to host a broad taxonomy of hydrophobic and hydrophilic dyes and recapitulate the optical and acoustic features of bio tissue. For a full optical parameterization, we refer to Wróbel, et al. [ Biomed. Opt. Express7, 2088 (2016)], where this material was first presented for optical imaging. Instead, here, we complete the picture and find that its speed of sound and acoustic attenuation resemble those of pure polydimethylsiloxane, i.e. respectively 1150 ± 30 m/s and 3.5 ± 0.4 dB/(MHz·cm). We demonstrate its use under a commercial B-mode scanner and a home-made A-mode stage for photoacoustic analysis to retrieve the ground-truth encoded in a multilayer architecture containing indocyanine green, plasmonic particles and red blood cells. Finally, we verify the stability of its acoustic, optical and geometric features over a time span of three months.

Sun-induced leaf fluorescence retrieval in the O2-B atmospheric absorption band.

Sun-induced leaf fluorescence was inferred by using high resolution (0.5 cm(-1)) radiance measurements and simulated spectra of the solar irradiance at the ground level, in the region of the O(2)-B absorption band. The minimization of a cost function was performed in the Fourier transform domain in order to make an accurate fit of the Instrumental Line- Shape that convoluted the simulated spectrum. Second- order polynomials were used to fit the leaf fluorescence and reflectance in the 100-cm(-1)-wide spectral window. The scale and the instrumental conversion factor were also fitted in order to obtain an accuracy that could not be attained by using the radiance measurements alone.

A computational study of the excited states of bilirubin IX.

We have determined the lowest excited states of bilirubin IX by TD-DFT calculations. The lowest pair of excited states, S(1) and S(2), turn out to be of charge-transfer (CT) nature. Although DFT based methods tend to underestimate the energy of CT states, the small oscillator strengths we have computed indicate that such states may actually exist in this spectral region, but would have escaped spectroscopic detection. The next pair of excited states, S(3) and S(4), account for the most prominent spectral feature of bilirubin. They can be accurately described by the exciton coupling model, as we show by a thorough analysis of wavefunctions and properties. This finding therefore supports the interpretation of bilirubin photoisomerization behaviour, based on the exciton coupling model.