I-Corps: Magnetic steering and tracking for minimally invasive medical procedures

I-Corps：用于微创医疗程序的磁力转向和跟踪

• 批准号: 2243678
• 负责人: Hamidreza Marvi
• 金额: $ 5万
• 依托单位: Arizona State University
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2022
• 资助国家: 美国
• 起止时间: 2022-12-01 至 2024-11-30
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=2243678&HistoricalAwards=false
• 关键词: Corps; Magnetic; steering; tracking; minimally

The broader impact/commercial potential of this I-Corps project is the development of technology that enables a vast variety of surgical/interventional procedures including intra-vascular/airways/GI tract and intra-tissue/organ procedures with minimal tissue damage and without any exposure to radiation. In particular, magnetic steering can be used in all medical procedures that involve needles or catheters such as biopsy, stent placement, balloon angioplasty, and microelectrode array placement in the brain. The tracking system can also be used along with any tethered medical device. In addition, this technology will benefit patients through eliminating human error and shorter waitlists; interventional surgeons through eliminating radiation exposure, improving catheter/needle manipulation, and enabling real-time, high-resolution, 3D tracking; and hospitals through reducing chances of adverse events and lawsuits and catching up to the demand. Thus, this system is a fit for the interventional surgical robot market as it addresses the pain points of the customers, end-users, and patients. This I-Corps project is based on the development of technology to improve catheter/needle steerability while eliminating the need for X-ray imaging and radiation exposure. The novelty of the magnetic steering technology is in replacing the conventional mechanical pushing with a magnetic pulling mechanism that significantly improves controlled tip placement and steering in the difficult-to-reach areas in the body. Moreover, there is no need for a load-bearing needle shaft and it can be made of arbitrarily soft materials. This, in turn, eliminates the excessive tissue damage and enables the steering of the catheter/needle on high-curvature 3D paths and accessing locations that are not accessible with current robotic technologies. In addition, the current technology for tracking steerable surgical tools in interventional procedures is X-ray fluoroscopy which suffers from excessive radiation exposure and the inability to capture the image of soft tissues. The proposed tracking system is designed to directly address these pain points. Besides, the tracking system contributes to the stability of the magnetic pulling mechanism by restraining the deployment speed of the catheter/needle. Thus, the proposed technology significantly improves the state-of-the-art catheter/needle steering and tracking and directly addresses the pain points of conventional technologies.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项目更广泛的影响/商业潜力是开发技术，使各种外科/介入手术成为可能，包括血管内/气道/胃肠道和组织内/器官手术，组织损伤最小，没有任何辐射暴露。特别地，磁操纵可以用于涉及针或导管的所有医疗程序，例如活检、支架放置、球囊血管成形术和脑中的微电极阵列放置。跟踪系统也可以与任何系留的医疗设备一起沿着使用。此外，该技术将通过消除人为错误和缩短等待名单使患者受益;介入外科医生通过消除辐射暴露，改善导管/针头操作，并实现实时，高分辨率，3D跟踪;医院通过减少不良事件和诉讼的机会并赶上需求。因此，该系统适合介入手术机器人市场，因为它解决了客户，最终用户和患者的痛点。该I-Corps项目基于技术开发，以提高导管/针的可操控性，同时消除对X射线成像和辐射暴露的需求。磁性转向技术的新奇在于用磁性拉动机制取代传统的机械推动，这显著改善了在身体中难以到达的区域中的受控尖端放置和转向。此外，不需要承载针轴，并且可以由任意柔软的材料制成。这反过来又消除了过度的组织损伤，并使导管/针能够在高曲率3D路径上转向，并进入当前机器人技术无法进入的位置。此外，用于在介入手术中跟踪可操纵手术工具的当前技术是X射线荧光透视，其遭受过度辐射暴露并且不能捕获软组织的图像。拟议的跟踪系统旨在直接解决这些痛点。此外，跟踪系统通过限制导管/针的展开速度而有助于磁性拉动机构的稳定性。因此，所提出的技术大大提高了最先进的导管/针转向和跟踪，并直接解决了传统技术的痛点。该奖项反映了NSF的法定使命，并已被认为值得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的支持。