PFI:AIR - TT: Magnetic Resonance Imaging Guided Robotic Cardiac Catheter System

PFI:AIR - TT：磁共振成像引导机器人心导管系统

• 批准号: 1700839
• 负责人: Cenk Cavusoglu
• 金额: $ 19.99万
• 依托单位: Case Western Reserve University
• 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: 2017-06-01 至 2021-05-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=1700839&HistoricalAwards=false
• 关键词: PFI; AIR; TT; Magnetic; Resonance

This PFI: AIR Technology Translation project focuses on translating magnetic resonance imaging-guided robotics technology to develop a robotic catheter system for treatment of atrial fibrillation ablation. The developed technology aims to improve treatment of atrial fibrillation, which has an estimated the prevalence of 2.7-6.1 million in the United States, with 200,000 new cases annually. The developed real-time, magnetic resonance, imaging-guided, robotic catheter technology will significantly improve the accuracy and repeatability of the atrial fibrillation ablation therapy, compared to the state-of-the-art manually controlled catheters. This technology will also reduce costs by decreasing time in the operating room, reducing the need for repeat procedures due to incomplete treatment, and reducing adverse events and complications. In this project, the investigators will develop a proof-of-concept prototype of the robotic catheter system that will be used in subsequent early validation studies.This project addresses the technology gaps in synergistically integrating high-speed magnetic resonance imaging technologies with robotic motion planning and control techniques, to develop a novel co-robotic system. In the proposed paradigm, the atrial fibrillation ablation will be performed under intra-operative magnetic resonance imaging guidance, and conventional manually controlled intravascular catheters will be replaced with robotic catheters actuated by the magnetic resonance imaging system. The location of the catheter tip and the target tissue will be measured by magnetic resonance imaging in real-time. The robotic control algorithms will then use this information to actively control the catheter tip. Intra-operative availability of magnetic resonance imaging, with its superior tissue discrimination capabilities, would allow real-time evaluation of the substrate depth and lesion created by ablation. In addition, personnel involved in this project, in particular, one postdoctoral and one graduate student, will receive training in innovation and technology commercialization through participating in technology innovation and entrepreneurship education programs.

该PFI：AIR技术翻译项目的重点是翻译磁共振成像引导的机器人技术，以开发用于治疗房颤消融的机器人导管系统。 该技术旨在改善房颤的治疗，据估计，房颤在美国的患病率为270万至610万，每年有20万新病例。 与最先进的手动控制导管相比，开发的实时磁共振成像引导机器人导管技术将显著提高房颤消融治疗的准确性和可重复性。 这项技术还将通过减少手术室的时间，减少因不完全治疗而重复手术的需要，以及减少不良事件和并发症来降低成本。 在这个项目中，研究人员将开发一个机器人导管系统的概念验证原型，该原型将用于随后的早期验证研究。这个项目解决了将高速磁共振成像技术与机器人运动规划和控制技术协同集成的技术差距，以开发一种新型的协同机器人系统。 在所提出的范例中，房颤消融将在术中磁共振成像引导下进行，传统的手动控制血管内导管将被磁共振成像系统驱动的机器人导管取代。将通过磁共振成像实时测量导管头端和靶组织的位置。然后，机器人控制算法将使用该信息主动控制导管头端。术中可用的磁共振成像，其上级的组织辨别能力，将允许实时评估基板深度和消融造成的损伤。此外，参与该项目的人员，特别是一名博士后和一名研究生，将通过参加技术创新和创业教育项目，接受创新和技术商业化培训。

项目成果

Analysis of Contact Stability and Contact Safety of a Robotic Intravascular Cardiac Catheter under Blood Flow Disturbances.

• DOI: 10.1109/iros45743.2020.9341527
• 发表时间: 2020-10
• 期刊: Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems
• 作者: Hao R;Poirot NL;Çavuşoğlu MC
• 通讯作者: Çavuşoğlu MC

Differential Image Based Robot to MRI Scanner Registration with Active Fiducial Markers for an MRI-Guided Robotic Catheter System.

• DOI: 10.1109/iros45743.2020.9341043
• 发表时间: 2020-10
• 期刊: Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems
• 作者: Tuna EE;Poirot NL;Bayona JB;Franson D;Huang S;Narvaez J;Seiberlich N;Griswold M;Çavuşoğlu MC
• 通讯作者: Çavuşoğlu MC

Jacobian-Based Task-Space Motion Planning for MRI-Actuated Continuum Robots

• DOI: 10.1109/lra.2018.2881987
• 发表时间: 2019-01
• 期刊: IEEE Robotics and Automation Letters
• 影响因子: 5.2
• 作者: Tipakorn Greigarn;Nate Lombard Poirot;Xinyang Xu;M. C. Cavusoglu

State Estimation for MRI-Actuated Cathers via Catadioptric Stereo Camera

通过折反射立体相机对 MRI 驱动导管进行状态估计

• DOI: 10.1109/iros.2018.8594153
• 发表时间: 2018
• 期刊: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018
• 作者: Greigarn, Tipakorn;Jackson, Russell;Cavusoglu, M. Cenk
• 通讯作者: Cavusoglu, M. Cenk