STTR Phase I: Smart Semiautonomous Fluid Drainage System for Surgical Procedures

这个小企业技术转让（STTR）第一阶段项目将开发一种新的自动化方式，以排出腹腔中异常积聚的液体。拟议的系统旨在将可视化、传感器和算法技术发展到半自动化引流程序，使护理提供标准化，并减少所需的临床资源（人员和所需的医院设备）。在美国，医疗保健费用继续增加。这一趋势，加上医疗保健行业目前和预计的人力短缺，促使相关利益相关者考虑创新解决方案，以适当管理医疗保健成本，同时为患者提供高质量的医疗保健。虽然其他经济部门从自动化的使用增加中受益匪浅，以提高效率和成本控制，但由于各种原因，医疗保健部门在系统地实施这些创新方面落后。考虑到这一机会，第一阶段STTR项目旨在证明开发一种独特的半自主机器人平台的可行性，该平台将适用于许多医疗程序。正如所设想的那样，该技术可能会带来关键的进步，包括改善患者的治疗效果和护理水平，同时提高手术/工作人员的效率，并降低医疗成本。第一阶段工作的目的是证明用于半自主执行穿刺术的集成程序单元的概念验证。在此阶段完成的原型系统由超声探头、电动麻醉注射器、手术刀和抽吸针组成，可以集成到标准的市售机器人单元中。该算法将使用基于超声图像的贝叶斯索引来开发，以在虚拟和机械模拟中执行腹水清除。基于由医疗、机器人和人工智能（AI）专家组成的多学科团队所做的初步工作，该公司计划创建和测试一种具有所需传感和驱动组件的紧凑型机器人设备。该机器人设备将具有以紧凑和创新的方式排列的多个子单元，能够准确地成像和控制麻醉所必需的各种仪器，然后驱动必要的套管进行液体抽吸。项目目标包括：（i）机器人系统的设计和制造，（ii）开发人工智能驱动的超声图像分割和针放置优化，以及（iii）设计和实施控制算法，以实现手术机器人的安全和稳健操作。该奖项反映了NSF的法定使命，并通过使用基金会的智力价值和更广泛的影响审查标准进行评估，被认为值得支持。

This Small Business Technology Transfer (STTR) Phase I project will develop a novel automated manner to drain abnormal accumulations of fluid in the abdominal body cavity. The proposed system seeks to progress visualization, sensor and algorithm technologies to semi-automate drainage procedures, standardizing delivery of care and reducing the required clinical resources (personnel and required hospital equipment). Healthcare costs continue to increase in the United States (US). This trend, coupled with current and projected manpower shortages in the healthcare sector, is driving the relevant stakeholders to consider innovative solutions to appropriately manage healthcare costs while still providing high-quality healthcare to patients. While other sectors of the economy have greatly benefited from increased use of automation to improve efficiency and cost containment, for a variety of reasons, the healthcare sector is lagging in implementing these innovations in a systemic way. With this opportunity in mind, this Phase I STTR project aims to prove the feasibility of developing a unique, semi-autonomous robotic platform that will be adaptable to many medical procedures. As envisioned, the technology may lead to key advances, including improved patient outcomes and levels of care while increasing procedure/staff efficiencies, and reducing medical costs. The objective of this Phase I effort is to demonstrate a proof of concept for an integrated procedural unit for semi-autonomously performing paracenteses. The prototype system to be completed during this stage is comprised of an ultrasound probe, motorized anesthetic syringe, scalpel, and aspiration needle, and can be integrated into standard, commercially available robotic units. The algorithm will be developed using Bayesian indexing based on ultrasound images to execute ascites fluid removal in both virtual and mechanical simulations. Based on the preliminary work done by the multidisciplinary team of medical, robotic, and artificial intelligence (AI)) experts, the company plans to create and test a compact robotic device with the required sensory and driving components. This robotic device will have multiple subunits arranged in a compact and innovative way, capable of accurately imaging and controlling various instruments essential for anesthetizing and then driving the necessary cannulas for fluid aspiration. The project objectives include: (i) design and manufacture of the robotic system, (ii) development of AI-driven segmentation of ultrasound images and optimization of needle placement, and (iii) design and implementation of control algorithms for safe and robust operation of the surgical robot.This award reflects NSF's statutory mission and has been deemed worthy of support through evaluation using the Foundation's intellectual merit and broader impacts review criteria.