SBIR Phase I: Hybrid Mechanical-Optical Patient Tracking for Robotic Surgery

SBIR 第一阶段：用于机器人手术的混合机械光学患者跟踪

• 批准号: 1721384
• 负责人: Alon Mozes
• 金额: $ 22.5万
• 依托单位: Neocis Inc
• 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: 2017-07-01 至 2019-02-28
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=1721384&HistoricalAwards=false
• 关键词: SBIR; Phase; Hybrid; Mechanical; Optical

The broader impact/commercial potential of this project will be to innovate a novel patient tracking system, which will improve robotic surgery usability in an intra-operative environment. Robotic surgery is becoming ubiquitous across various medical procedures, and data continues to show improved clinical results. However, usability challenges impede broader adoption. This project will combine multiple tracking modalities, including mechanical and optical tracking, to create a hybrid tracking technology that allows for the advantages of each modality. This will optimize patient range of motion while minimizing line-of-sight challenges. This patient tracking technology can be used in conjunction with an existing robotic surgery system for dental implant procedures, which comprise a significant market opportunity. Dental implants are the standard of care for tooth replacement, and the dental implant market in the US is over $1 billion and growing nearly 8% per year with more than 14 million implants being placed annually worldwide. This technique can be used not only to revolutionize dental implant surgery, where the system is currently applied, but also to potentially create opportunities in other cranial procedures, which are otherwise burdened by invasive, cumbersome tracking technologies that impede intra-operative usability.This Small Business Innovation Research (SBIR) Phase I project will demonstrate the feasibility of the first hybrid patient tracking device that combines mechanical and optical tracking methods. Optical tracking systems require that cameras have direct line-of-sight to several tracked markers in the surgical field, which poses a significant challenge to the surgeon and assistants that have to carefully avoid blocking the camera's field-of-view. Mechanical tracking systems limit a patient's range of motion and can be bulky. The success of this project will lead to the development of a robotic surgery system for dental implant procedures that encompasses: 1) pre-operative CT-based planning software, 2) a visual guidance system that provides on-screen graphics like a GPS system, 3) a hybrid optical and mechanical tracking system that monitors the patient position, and 4) a robot arm that physically grasps the drill at the same time as the surgeon in order to provide haptic feedback, constraining the surgeon to match the planned osteotomy. This system enables minimally invasive, flapless surgery that is shown to result in less pain for the patient and faster surgery. It is designed to be easy to use and seamlessly integrate into the surgeon's workflow.

该项目更广泛的影响/商业潜力将是创新一种新型患者跟踪系统，这将提高机器人手术在术中环境中的可用性。机器人手术在各种医疗程序中变得无处不在，数据继续显示临床效果得到改善。然而，可用性挑战阻碍了更广泛的采用。该项目将结合联合收割机多种跟踪模式，包括机械和光学跟踪，以创建一种混合跟踪技术，允许每种模式的优点。这将优化患者的活动范围，同时最大限度地减少视线挑战。这种患者跟踪技术可以与现有的机器人手术系统结合使用，用于牙科植入手术，这包括重要的市场机会。牙科植入物是牙齿替换的标准护理，美国的牙科植入物市场超过10亿美元，每年增长近8%，全球每年植入超过1400万个植入物。这种技术不仅可以用于彻底改变目前应用该系统的牙科植入手术，而且还可能在其他颅骨手术中创造机会，否则这些手术会受到侵入性，繁琐的跟踪技术，阻碍了术中可用性。这项小型企业创新研究（SBIR）第一阶段项目将证明第一个结合机械和光学跟踪方法的混合患者跟踪设备的可行性。光学跟踪系统要求相机具有到手术区域中的若干跟踪标记的直接视线，这对必须小心避免阻挡相机的视野的外科医生和助手构成了重大挑战。机械跟踪系统限制了患者的运动范围，并且可能体积庞大。该项目的成功将导致开发用于牙科种植手术的机器人手术系统，包括：1）术前基于CT的计划软件，2）提供屏幕上图形的视觉引导系统，如GPS系统，3）监测患者位置的混合光学和机械跟踪系统，以及4）机器人臂，其与外科医生同时物理地抓握钻头，以便提供触觉反馈，约束外科医生以匹配计划的截骨术。该系统可实现微创、无翻瓣手术，可减少患者疼痛，加快手术速度。其设计易于使用，并无缝集成到外科医生的工作流程中。