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

这个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，以开发用于房颤消融治疗的机器人导管系统。这项开发的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。与目前最先进的人工控制导管相比，所开发的实时、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。这项技术还将减少手术室的时间，减少因治疗不完全而重复手术的需要，减少不良事件和并发症，从而降低成本。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，用于随后的早期验证研究。该项目解决了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空白，开发了一种新型的协同机器人系统。在提出的范例中，心房颤动消融将在术中磁共振成像引导下进行，传统的人工控制血管内导管将被磁共振成像系统驱动的机器人导管所取代。导管尖端和靶组织的位置将通过磁共振成像实时测量。机器人控制算法将利用这些信息主动控制导管尖端。术中可用的磁共振成像，凭借其优越的组织识别能力，可以实时评估基底深度和消融造成的病变。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计划，接受创新和技术商业化方面的培训。

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.