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

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。 所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 2.7-610 万人，每年新增病例 20 万例。 与最先进的手动控制导管相比，所开发的实时磁共振、成像引导机器人导管技术将显着提高心房颤动消融治疗的准确性和可重复性。 该技术还将通过减少手术室时间、减少因治疗不完整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。 在该项目中，研究人员将开发机器人导管系统的概念验证原型，该原型将用于后续的早期验证研究。该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，以开发新型协作机器人系统。 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。导管尖端和目标组织的位置将通过磁共振成像实时测量。然后，机器人控制算法将使用该信息来主动控制导管尖端。磁共振成像的术中可用性及其卓越的组织辨别能力将允许实时评估基底深度和消融产生的病变。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创业教育项目，接受创新和技术转化方面的培训。

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.