CPS: Synergy: Collaborative Research: MRI Powered & Guided Tetherless Effectors for Localized Therapeutic Interventions

CPS：协同作用：协作研究：MRI 驱动

• 批准号: 1646566
• 负责人: Aaron Becker
• 金额: $ 60.79万
• 依托单位: University of Houston
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2017
• 资助国家: 美国
• 起止时间: 2017-01-01 至 2020-12-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=1646566&HistoricalAwards=false
• 关键词: CPS; Synergy; Collaborative; Research; MRI

Magnetic Resonance Imaging (MRI) scanners use strong magnetic fields to safely image soft tissues deep inside the body. They offer a unique tool for guiding therapies: images while patient is inside the scanner can localize diseased tissue and guide an intervention with high accuracy. This research controls MRI magnetic fields to wirelessly push millimeter-scale robots through vessels in the body, assemble them into tools, and provide targeted drug delivery or pierce tissue. This will directly impact healthcare, improving patient outcome by enabling unparalleled minimal invasiveness resulting in faster recovery, fewer side effects, and cost-effectiveness. This transformative toolset for multi-agent control will set the foundation for a wealth of medical therapies and surgical interventions. Using magnetic forces of clinical MRI scanners to steer miniature tetherless effectors through human bodies and combining with real-time imaging and operator immersion could transform the practice of minimally invasive interventions. This CPS will seamlessly integrate physical (scanner sensor/actuator, effectors, patient, operator) and cyber (world modeling, combined sensor and effector control, operator immersion). Work entails: (1) Portfolio of parametric effector designs that can be optimized to exploit the constraints of a given clinical procedure. (2) Toolbox of automatic controllers for MRI-based powering and steering of tetherless effectors in the body lumen, self-assembling them into tools, and precision therapy delivery or to pierce tissue. (3) Real-time MRI-based sensing of the physical world for imaging and tracking effectors and tissue. (4) Linked effector and MRI scanner control on-the-fly. (5) Visual/force-feedback human-robot interfacing. The work focuses on two effector classes: an MRI Gauss gun that stores magnetic potential energy released by a chain reaction when robots self-assemble, and an MRI pile-driver that converts kinetic energy from an enclosed sphere into impulses to tunnel into tissue. These approaches will be validated through analytical modeling, scaled hardware experiments, and experiments in clinical MRI scanners.

磁共振成像（MRI）扫描仪使用强磁场安全地对体内深处的软组织进行成像。他们提供了一种独特的指导疗法工具：在扫描仪内部患者时，图像可以定位患病的组织，并以高精度指导干预措施。这项研究控制了MRI磁场，以无线将毫米级机器人推向体内的血管，将它们组装成工具，并提供有针对性的药物输送或刺皮组织。这将直接影响医疗保健，从而通过实现无与伦比的最小侵入性来改善患者的结果，从而更快地恢复，更少的副作用和成本效益。用于多代理控制的这种变革性工具集将为大量的医疗疗法和手术干预奠定基础。使用临床MRI扫描仪的磁力通过人体引导微型绑扎效应子，并与实时成像和操作员浸入结合，可以改变微创干预措施的实践。该CP将无缝整合物理（扫描仪传感器/执行器，效应器，患者，操作员）和网络（世界建模，联合传感器和效应器控制，操作员浸入）。工作需要：（1）可以优化的参数效应器设计组合，以利用给定临床程序的约束。 （2）自动控制器的工具箱，用于基于MRI的基于MRI的供电和转向体管中的无链效应器，将它们自组装成工具，并提供精确的治疗疗法或刺穿组织。 （3）基于MRI的实时感知物理世界，用于成像和跟踪效应子和组织。 （4）链接的效应子和MRI扫描仪控制。 （5）视觉/力反馈人类机器人接口。这项工作的重点是两个效应子类别：一种MRI高斯枪，该枪存储在机器人自组装时由链反应释放的磁性能，以及将动能从封闭的球体转化为冲动的MRI桩驱动器，将动能转化为隧道，以使隧道进入组织。这些方法将通过分析建模，缩放硬件实验和临床MRI扫描仪实验来验证。

项目成果

BNU-Net: A Novel Deep Learning Approach for LV MRI Analysis in Short-Axis MRI

• DOI: 10.1109/bibe.2019.00137
• 发表时间: 2019-10
• 期刊: 2019 IEEE 19th International Conference on Bioinformatics and Bioengineering (BIBE)
• 作者: Wenhui Chu;Giovanni Molina;N. Navkar;Christoph F. Eick;Aaron T. Becker;P. Tsiamyrtzis;N. Tsekos

3D Reconstruction of Tubular Structure Using Radially Deployed Projections

使用径向部署投影对管状结构进行 3D 重建

• DOI: 10.1109/mipr.2019.00064
• 发表时间: 2019
• 期刊: 2019 IEEE Conference on Multimedia Information Processing and Retrieval (MIPR
• 作者: Unan, Mahmut;An, Junmo;Seimenis, Ionnis;Shah, Dipan J.;Tsekos, Nikolaos V.
• 通讯作者: Tsekos, Nikolaos V.

Evaluation of Interventional Planning Software Features for MR-guided Transrectal Prostate Biopsies

• DOI: 10.1109/bibe50027.2020.00161
• 发表时间: 2020-01-01
• 期刊: 2020 IEEE 20TH INTERNATIONAL CONFERENCE ON BIOINFORMATICS AND BIOENGINEERING (BIBE 2020)
• 作者: Velazco-Garcia, Jose D.;Navkar, Nikhil, V;Tsekos, Nikolaos, V
• 通讯作者: Tsekos, Nikolaos, V

Exploiting Nonslip Wall Contacts to Position Two Particles Using the Same Control Input

• DOI: 10.1109/tro.2019.2891487
• 发表时间: 2019-02
• 期刊: IEEE Transactions on Robotics
• 影响因子: 7.8
• 作者: Shiva Shahrokhi;Jing-Xin Shi;B. Isichei;Aaron T. Becker

Interactive and Immersive Image-Guided Control of Interventional Manipulators with a Prototype Holographic Interface

具有原型全息界面的介入机械手的交互式和沉浸式图像引导控制

• DOI: 10.1109/bibe.2019.00186
• 发表时间: 2019
• 期刊: 2019 IEEE 19th International Conference on Bioinformatics and Bioengineering (BIBE
• 作者: Morales Mojica, Cristina Marie;Tsekos, Nikolaos V.;Velazco-Garcia, Jose Daniel;Zhao, Haoran;Seimenis, Ioannis;Leiss, Ernst L.;Shah, Dipan;Webb, Andrew;Becker, Aaron T.;Tsiamyrtzis, Panagiotis
• 通讯作者: Tsiamyrtzis, Panagiotis