Um mimetizador de tecido, mais conhecido como phantom, é um objeto que mimetiza tecidos biológicos e são importantes para caracterização e calibração de equipamentos de imagens médicas como ultrassonografia, e no desenvolvimento de novas modalidades de imagens como a fotoacústica. Este trabalho aborda o desenvolvimento de um gel à base de óleo mineral e polímeros para phantom para aplicações em técnicas acústicas e ópticas. Os polímeros utilizados foram o elastômero tribloco tipo estireno-etileno/butileno-estireno (SEBS) e o polietileno de baixa densidade (PEBD). Foram confeccionados três grupos géis poliméricos com porcentagem de SEBS entre 5%-15% de SEBS, 0%-9% de PEBD. Os géis foram caracterizados acusticamente pela velocidade do som e coeficiente de atenuação através de transdutores de imersão com frequências entre 2,25 MHz-10 MHz, e opticamente entre 400-1200 nm pelos coeficientes de absorção, espalhamento e Albedo. Foi observada velocidade do som entre 1458,6 ± 3,1 m/s e 1480,7 ± 1,9 m/s, sendo compatíveis com valores para gordura; coeficiente de atenuação entre 0,6 ± 0,1 dB/cm a 2,25 MHz e 11,3 ± 0,1 dB/cm a 10 MHz, compatíveis para tecidos moles; coeficiente de absorção em 532 nm entre 0,11-2,62 cm-1 e em 1064 nm entre 0,09-1,70 cm-1, e uma banda de absorção em torno de 930 nm com gordura; o coeficiente de espalhamento em 532 nm entre 0,15 -3,96 cm-1 e em 1064 nm entre 0,17- 3,20 cm-1, valores inferiores para tecidos moles. O coeficiente Albedo mostrou que os géis apresentam caráter absorvedor entre 400-1200 nm. Foi desenvolvido um phantom para imagem por fotoacústica com um dos géis estudados (7%SEBS/5%PEBD) e com uma inclusão com pigmento de urucum e foram feitas imagens fotoacústicas em 532 nm e 1024 nm. Foi observado o sinal fotoacústico mais intenso para a imagem em 532 nm. Com este trabalho pode-se obter uma boa caracterização acústica e óptica de géis formados a partir de polímeros do tipo SEBS em conjunto com o PEBD ainda não descritos na literatura. Os materiais desenvolvidos se mostraram bons mimetizadores para tecidos compostos de gordura e com potencial para aplicações em fotoacústica. / Phantoms are structures composed by materials that mimic specific properties of biological tissues and they are commonly used to calibrate and characterize current medical imaging techniques such as ultrasound and optical imaging, and new imaging modalities such as photoacoustics. In this dissertation we developed an oil-based tissue mimicking gel material with mineral oil, triblock copolymer styrene-ethylene/butylene styrene (SEBS) and low-density polyethylene (LDPE). The gel phantoms were prepared mixing SEBS and LDPE in mineral oil at room temperature, varying the SEBS concentration between 5%15%, and low-density polyethylene (LDPE) between 0%-9% and glass microspheres. Acoustic properties such speed of sound and attenuation coefficient were measured using five unfocused ultrasound transducers with frequencies ranging between 2.2510 MHz. Optical properties such albedo, scattering and absorption coefficients ranging from 400-1200 nm were measured. Speed of sound from 1458.6 ± 3.1m/s and 1480.7 ± 1.9 m/s, and attenuation from 0.6 ± 0.1 dB/cm at 2.25 MHz and 11.3 ± 0.1 dB/cm at 10 MHz were observed. Absorption coefficient at 532 nm between 0.11-2.62 cm-1; at 1064 nm between 0.09-1.70 cm-1 were observed. Peak absorption around 930 nm was observed for all gels. Scattering coefficient at 532 nm between 0.15 -3.96 cm-1 and at 1064 nm between 0.17-3.20 cm-1 were found. Albedo coefficient showed that gels are absorptive characteristic for the selected range of wavelength. A phantom made with a 7% SEBS/5% LDPE gel containing an optical-absorber spherical inclusion made with the same material and annatto were developed. Photoacoustic spectroscopic images of the phantom were acquired using a laser operating at 532 nm and 1064 nm. The photoacoustic signal from the inclusion showed the highest intensities at 532 nm with as expected according to the measured absorption spectrum of annatto. With this dissertation we obtained a suitable acoustic and optical characterization of the SEBS/LDPE gels that was not described in the literature. The materials developed seem suitable to mimic fat tissue and have potential for applications in photoacoustics.

Colonoscopy is the current standard for colorectal cancer screening. This procedure requires improvement since it causes patient pain and can even result in injury. Novel colonoscopy devices have to be evaluated to gain information about their performance. At the preclinical stage of the device development the evaluation is typically performed in laboratory experiments. For these experiments an artificial environment is required which can recreate the anatomical and biomechanical features of the colon. A colonoscopy simulator for the evaluation of colonoscopy devices was developed within the ERC funded CoDIR project (Colonic Disease Investigation by Robotic Hydrocolonoscopy). The here developed simulator had to provide a colon phantom with realistic biomechanical properties as well as a sensor setup to measure signals which can be used to quantify the performance of devices which are tested within the simulator. Related literature was reviewed and possible tissue mimicking materials were selected. The suitability of the selected materials was evaluated by testing the frictional and elastic properties of the materials and subsequently comparing the results to those of colon tissue. PVA cryogel was selected as the most suitable material as it exhibits comparable elasticity and coefficients of friction. The tissue mimicking materials were mould casted into phantoms which were designed to represent the anatomical features of the colon. A simulator environment was developed which integrates the phantom as well as force and pressure sensors into a functional system. The sensors measure mesenteric forces and intraluminal pressures which can be related to the performance of tested devices. The simulator allows the arrangement of the sensors and the phantoms in an adjustable, modular approach. The simulator environment was successfully applied in the evaluation of a novel colonoscopy device. The results indicate that PVA cryogels exhibit unique mechanical properties which can be compared to those of colon tissue. The developed colonoscopy simulator provides a promising tool which can aid the development of novel colonoscopy devices.

Data can be acquired from tissue's vascular structure and used for modeling and visualization. To acquire data from a vascular tree, we make its structure available for the gathering of data by separating it from the structures of surrounding tissues, which includes the capillary structure. The capillary structure contains important information, but, because of its size, is the most difficult to acquire data from. In this work, we look at methods for contrasting the vascular structure from surrounding tissues, and focus on the use of corrosion casting for this procedure. We collected image data using micro-computer tomography (micro-CT) and converted data into stereolithography models. Models were imported into computer aided design (CAD) software, which was used to further process the models in order to ensure that the necessary structures were in place for the recreation of the capillary structures' relationship to targeted cell systems. Recreating the cell system-capillary system relationship is the reason building this model is so important. It is this relationship that we seek to model so that, in the future, we can create designs that guide the fabrication of three-dimensional (3D) scaffolding, which mimic capillary patterns with supportive structure that serve as an extracellular matrix for 3D tissue engineering. This method had been designed to enhance a variety of therapeutic protocols including, but not limited to, organ and tissue repair, systemic disease mediation and cell/tissue transplantation therapy.

This thesis analyzes the concept of robot mimicking in the field of Human-Machine Interaction (HMI). Gestures are investigated for HMI applications and the preliminary work of the mimicking of a model joint with markers is presented. Two separate systems are proposed finally which are capable of detecting a moving human arm in a video sequence and calculating the orientation of the arm. The angle of orientation found is passed to robot arm in order to realize robot mimicking. The simulations show that it is possible to determine human arm orientation either by using some markers or some initial background image information or tracking of features.

Um mimetizador de tecido, mais conhecido como phantom, é um objeto que mimetiza tecidos biológicos e são importantes para caracterização e calibração de equipamentos de imagens médicas como ultrassonografia, e no desenvolvimento de novas modalidades de imagens como a fotoacústica. Este trabalho aborda o desenvolvimento de um gel à base de óleo mineral e polímeros para phantom para aplicações em técnicas acústicas e ópticas. Os polímeros utilizados foram o elastômero tribloco tipo estireno-etileno/butileno-estireno (SEBS) e o polietileno de baixa densidade (PEBD). Foram confeccionados três grupos géis poliméricos com porcentagem de SEBS entre 5%-15% de SEBS, 0%-9% de PEBD. Os géis foram caracterizados acusticamente pela velocidade do som e coeficiente de atenuação através de transdutores de imersão com frequências entre 2,25 MHz-10 MHz, e opticamente entre 400-1200 nm pelos coeficientes de absorção, espalhamento e Albedo. Foi observada velocidade do som entre 1458,6 ± 3,1 m/s e 1480,7 ± 1,9 m/s, sendo compatíveis com valores para gordura; coeficiente de atenuação entre 0,6 ± 0,1 dB/cm a 2,25 MHz e 11,3 ± 0,1 dB/cm a 10 MHz, compatíveis para tecidos moles; coeficiente de absorção em 532 nm entre 0,11-2,62 cm-1 e em 1064 nm entre 0,09-1,70 cm-1, e uma banda de absorção em torno de 930 nm com gordura; o coeficiente de espalhamento em 532 nm entre 0,15 -3,96 cm-1 e em 1064 nm entre 0,17- 3,20 cm-1, valores inferiores para tecidos moles. O coeficiente Albedo mostrou que os géis apresentam caráter absorvedor entre 400-1200 nm. Foi desenvolvido um phantom para imagem por fotoacústica com um dos géis estudados (7%SEBS/5%PEBD) e com uma inclusão com pigmento de urucum e foram feitas imagens fotoacústicas em 532 nm e 1024 nm. Foi observado o sinal fotoacústico mais intenso para a imagem em 532 nm. Com este trabalho pode-se obter uma boa caracterização acústica e óptica de géis formados a partir de polímeros do tipo SEBS em conjunto com o PEBD ainda não descritos na literatura. Os materiais desenvolvidos se mostraram bons mimetizadores para tecidos compostos de gordura e com potencial para aplicações em fotoacústica. / Phantoms are structures composed by materials that mimic specific properties of biological tissues and they are commonly used to calibrate and characterize current medical imaging techniques such as ultrasound and optical imaging, and new imaging modalities such as photoacoustics. In this dissertation we developed an oil-based tissue mimicking gel material with mineral oil, triblock copolymer styrene-ethylene/butylene styrene (SEBS) and low-density polyethylene (LDPE). The gel phantoms were prepared mixing SEBS and LDPE in mineral oil at room temperature, varying the SEBS concentration between 5%15%, and low-density polyethylene (LDPE) between 0%-9% and glass microspheres. Acoustic properties such speed of sound and attenuation coefficient were measured using five unfocused ultrasound transducers with frequencies ranging between 2.2510 MHz. Optical properties such albedo, scattering and absorption coefficients ranging from 400-1200 nm were measured. Speed of sound from 1458.6 ± 3.1m/s and 1480.7 ± 1.9 m/s, and attenuation from 0.6 ± 0.1 dB/cm at 2.25 MHz and 11.3 ± 0.1 dB/cm at 10 MHz were observed. Absorption coefficient at 532 nm between 0.11-2.62 cm-1; at 1064 nm between 0.09-1.70 cm-1 were observed. Peak absorption around 930 nm was observed for all gels. Scattering coefficient at 532 nm between 0.15 -3.96 cm-1 and at 1064 nm between 0.17-3.20 cm-1 were found. Albedo coefficient showed that gels are absorptive characteristic for the selected range of wavelength. A phantom made with a 7% SEBS/5% LDPE gel containing an optical-absorber spherical inclusion made with the same material and annatto were developed. Photoacoustic spectroscopic images of the phantom were acquired using a laser operating at 532 nm and 1064 nm. The photoacoustic signal from the inclusion showed the highest intensities at 532 nm with as expected according to the measured absorption spectrum of annatto. With this dissertation we obtained a suitable acoustic and optical characterization of the SEBS/LDPE gels that was not described in the literature. The materials developed seem suitable to mimic fat tissue and have potential for applications in photoacoustics.

The driving force behind this thesis was the need for developing tissue mimicking materials that can mimic the dielectric properties of various biological soft tissues to aid in the development and testing of electromagnetic medical devices. Materials that can mimic the dielectric properties of human skin, adipose, muscle, malignant and healthy fibroglandular tissue, liver, pancreas, and kidney within the frequency range of 500 MHz to 20 GHz have been characterized and tested. The tissue mimicking materials are used to construct biological phantoms for studies that involve the investigation of wireless medical telemetry and a microwave breast cancer detection device.

No description available.

This thesis aims to investigate the acoustic properties of ultrasound contrast agents (UCAs) at high ultrasound frequencies. In recent years, there has been increasing development in the use of high frequency ultrasound in the fields of preclinical, intravascular, ophthalmology and superficial tissue imaging. Although research studying the acoustic response of UCAs at low diagnostic ultrasonic frequencies has been well documented, quantitative information on the acoustical properties of UCAs at high ultrasonic frequencies is limited. In this thesis, acoustical characterisation of three UCAs was performed using a preclinical ultrasound scanner (Vevo 770, VisualSonics Inc., Canada). Initially the acoustical characterisation of five high frequency transducers was measured using a membrane hydrophone with an active element of 0.2 mm in diameter to quantify the transmitting frequencies, pressures and spatial beam profiles of each of the transducers. Using these transducers and development of appropriate software, high frequency acoustical characterisation (speed and attenuation) of an agar-based tissue mimicking material (TMM) was performed using a broadband substitution technique. The results from this study showed that the acoustical attenuation of TMM varied nonlinearly with frequency and the speed of sound was approximately constant 1548m·s-1 in the frequency range 12-47MHz. The acoustical properties of three commercially available lipid encapsulated UCAs including two clinical UCAs Definity (Lantheus Medical Imaging, USA) and SonoVue (Bracco, Italy) and one preclinical UCAs MicroMarker (untargeted) (VisualSonics, Canada) were studied using the software and techniques developed for TMM characterisation. Attenuation, contrast-to-tissue ratio (CTR) and subharmonic to fundamental ratio were measured at low acoustic pressures. The results showed that large off-resonance and resonant MBs predominantly contributed to the fundamental response and MBs which resonated at half of the driven frequency predominantly contributed to subharmonic response. The effect of needle gauge, temperature and injection rate on the size distribution and acoustic properties of Definity and SonoVue was measured and was found to have significant impacts. Acoustic characterisations of both TMM and UCAs in this thesis extend our understanding from low frequency to high frequency ultrasound and will enable the further development of ultrasound imaging techniques and UCAs design specifically for high frequency ultrasound applications.

L’adhésion et les propriétés mécaniques des cellules jouent un rôle crucial dans le fonctionnementcellulaire ainsi que dans l’apparition de maladies dégénératives. Pour mesurer ces quantités, nousavons développé dans ce travail un microscope opto-acoustique pour l’imagerie non-invasive de lamécanique de cellules individuelles avec une résolution sub-cellulaire. Ce microscope utilise latechnique d’acoustique picoseconde qui permet de générer et détecter optiquement des ondesacoustiques avec une large bande s’étendant jusqu’à 1 THz. Dans le but de reproduire lecomportement mécanique des cellules à des fréquences acoustiques supérieures à 10 GHz, uneétude sur des objets mous biomimétiques est menée dans une première partie. Les rigidité, viscositéet épaisseur de ces systèmes multicouches micrométriques sont caractérisées. Dans la deuxièmepartie de ce manuscrit, la technique d’acoustique picoseconde est employée pour imager le contactentre une cellule animale modèle et un biomatériau, ainsi que l’impédance acoustique de cette cellule.Un outil d’analyse nécessaire pour le traitement du signal acoustique est mis en place. Enfin, unmicroscope opto-acoustique opérationnel entre 10 et 100 GHz est présenté dans la dernière partie. Ilest basé sur un dispositif pompe-sonde asynchrone qui permet de produire des images acoustiquesen un temps court (4 pixels/min) avec une résolution axiale de l’ordre d’une dizaine de nm. Cetteapproche est comparable à une échographie mais à l’échelle cellulaire. L’étude de l’adhésion et despropriétés mécaniques de plusieurs types de cellules à différents stades de maturation est abordée.Des images topographiques des zones fines (< 50 nm) d’une cellule sont également analysées. Lemicroscope développé durant cette thèse offrira la possibilité d’explorer de nouvelles pistes derecherche dans les domaines de la biologie cellulaire et des biotechnologies. / Adhesion and mechanical properties of cells are key players in several cellular functions and areinvolved in the development of degenerative diseases. To characterize these quantities, we developedin this work an opto-acoustic microscope for the non-invasive imaging of the mechanics of individualcells with a sub-cell resolution. This microscope uses the Picosecond Ultrasonics (PU) technique thatallows optical generation and detection of acoustic waves with a large bandwidth up to 1 THz. In orderto reproduce the mechanical behaviour of cells at acoustic frequencies greater than 10 GHz, a studyof cell-mimicking micro-objects is first considered. The rigidity, viscosity and thickness of these microlayeredstructures are characterized. In the second part of this manuscript, the PU technique isapplied for imaging the contact between a simple animal cell and a biomaterial, as well as the acousticimpedance of this cell. An essential tool for analysing the acoustic signal is developed. In the thirdpart, the opto-acoustic microscope operating between 10 and 100 GHz is finally presented. It is basedon an asynchronous pump-probe setup that allows producing acoustic images within a short time (4pixels/min) and offering an axial resolution of about 10 nm. This is similar to cell ultrasonography. Thestudy of the adhesion and of the mechanical properties of different cell types at different stages of cellmaturation is then tackled. The topographic images of thin cell regions (< 50 nm) are also analysed.The microscope implemented during this thesis should offer the possibility of exploring new avenuesin the field of cellular biology.

Treating cancer with radiotherapy requires precise planning. Several planning pipelines rely on reference dose mimicking, where one tries to find machine parameters best mimicking a given reference dose. Dose mimicking relies on having a function that quantifies dose similarity well, necessitating methods for feature extraction of dose images. In this thesis we investigate ways of extracting features from clinical doseimages, and propose a few proof-of-concept dose mimicking functions using the extracted features. We extend current techniques and lay the foundation for new techniques for feature extraction, using mathematical frameworks developed in entirely different areas. In particular we give an introduction to wavelet theory, which provides signal decomposition techniques suitable for analysing local structure, and propose two different dose mimicking functions using wavelets. Furthermore, we extend ROI-based mimicking functions to use artificial ROIs, and we investigate variational autoencoders and their application to the clinical dose feature extraction problem. We conclude that the proposed functions have the potential to address certain shortcomings of current dose mimicking functions. The four methods all seem to approximately capture some notion of dose similarity. Used in combination with the current framework they have the potential of improving dose mimickingresults. However, the numerical tests supporting this are brief, and more thorough numerical investigations are necessary to properly evaluate the usefulness of the new dose mimicking functions. / Behandling av cancer med strålterapi kräver precis planering. Flera olika planeringsramverk bygger på doshärmning, som innebär att hitta de maskinparametrar som bäst härmar en given referensdos. För doshärmning behövs en funktion som kvantifierar likheten mellan två doser, vilket kräver ett sätt att extrahera utmärkande egenskaper – så kallade features – från dosbilder. I det här examensarbetet undersöker vi olika matematiska metoder för att extrahera features från kliniska dosbilder, och presenterar några olika förslag på prototyper till doshärmningsfunktioner, konstruerade utifrån extraherade features. Vi utvidgar nuvarande tekniker och lägger grunden för nya tekniker genom att använda matematiska ramverk utvecklade för helt andra syften. Speciellt så ger vi en introduktion till wavelet-teori, som ger matematiska verktyg för att analysera lokala beteenden hos signaler, exempelvis bilder. Vi föreslår två olika doshärmningsfunktioner som utnyttjar wavelets, och utvidgar ROI-baseraddoshärmning genom att introducera artificiella ROIar. Vidare så undersökervi så kallade variational autoencoders  och möjligheten att använda dessa för extrahering av features från dosbilder. Vi kommer fram till att de föreslagna funktionerna har potential att åtgärda vissa begränsningar som finns hos de doshärmningsfunktioner som används idag. De fyra metoderna verkar alla approximativt kvantifiera begreppet doslikhet. Användning av dessa nya metoder i kombination med nuvarande ramverk för doshärmning har potential att förbättra resultaten från doshärmning. De numeriska undersökningar som underbygger dessa slutsatser är dock inte särskilt ingående, så mer noggranna numeriska tester krävs för att kunna ge några definitiva svar angående de presenterade doshärmningsfunktionernas användbarhet ipraktiken.