I-Corps: Steerable 3D shape memory alloy activated core biopsy needle

I-Corps：可操纵 3D 形状记忆合金活性核心活检针

• 批准号: 2136973
• 负责人: Bardia Konh
• 金额: $ 5万
• 依托单位: University of Hawaii
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2021
• 资助国家: 美国
• 起止时间: 2021-06-15 至 2024-11-30
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=2136973&HistoricalAwards=false
• 关键词: Corps; Steerable; 3D; shape; memory

The broader impact/commercial potential of this I-Corps project is to make a practice-changing impact in tissue biopsy procedures by moving from manual straight (rigid) needle insertions to robotic and steerable needle insertions. With this technology, physicians can take biopsy samples from hard-to-reach or impossible-to-reach lesions using an active steerable core biopsy needle. For many types of cancer, biopsy is the definitive test for diagnosis. The long-term beneficial consequences of the project will include: (i) increased accuracy of biopsy extraction, (ii) reduced damage to surrounding tissue and sensitive organ(s), (iii) reduced risk of bleeding and infection, and (iv) reduced necessity and frequency of repeat biopsies. The active steering of the needle proposed in this work is applicable to a number of cancer interventions including both diagnosis and therapy, such as in-vivo analysis using Raman spectroscopy as well as brachytherapy, photodynamic therapy, radio frequency-based thermal ablation, and viral/gene therapy.This I-Corps project develops tissue biopsy procedures by offering a new steerable core biopsy needle that can actively bend inside tissue using smart shape memory alloy actuators. The movement of the steerable core biopsy needle is controlled inside the body by a novel control algorithm that relies on the shape-sensing capabilities of the smart actuators to provide needle tip position as a feedback. The technical hurdles include complexity in shape memory alloy hysteresis actuation and shape sensing control inside tissue. The control system receives commands from the operator and provides appropriate signals to the actuators to realize desired bending on the biopsy needle. The biocompatibility and stiffness of the active needle results in robotic manipulation, online shape sensing, and enhanced control inside the tissue to reach the target areas with more precision.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.

该I-Corps项目的更广泛影响/商业潜力是通过从手动直（刚性）针插入转向机器人和可操纵针插入，在组织活检手术中产生实践改变影响。有了这项技术，医生可以使用主动可控活检针从难以触及或不可能触及的病变处采集活检样本。对于许多类型的癌症，活检是诊断的决定性测试。该项目的长期有益结果将包括：（i）提高活检提取的准确性，（ii）减少对周围组织和敏感器官的损伤，（iii）减少出血和感染的风险，以及（iv）减少重复活检的必要性和频率。在这项工作中提出的针的主动转向适用于许多癌症干预，包括诊断和治疗，例如使用拉曼光谱的体内分析以及近距离治疗、光动力治疗、基于射频的热消融、和病毒/基因疗法这我... Corps项目通过提供一种新的可操纵活检针来开发组织活检程序，该活检针可以使用智能形状记忆合金在组织内主动弯曲执行器可操纵芯活检针的移动在体内由新型控制算法控制，该控制算法依赖于智能致动器的形状感测能力以提供针尖位置作为反馈。技术障碍包括形状记忆合金的复杂性、滞后致动和组织内的形状感测控制。控制系统接收来自操作者的命令，并向致动器提供适当的信号，以实现活检针上的期望弯曲。主动针的生物相容性和刚度导致机器人操作，在线形状传感，并增强组织内部的控制，以更精确地到达目标区域。该奖项反映了NSF的法定使命，并通过使用基金会的知识价值和更广泛的影响审查标准进行评估，被认为值得支持。