Actively deformable cannulas for stereotactic neurosurgery

用于立体定向神经外科手术的主动可变形插管

• 批准号: 461953135
• 负责人: Professorin Dr. Kathrin Flaßkamp
• 金额: --
• 依托单位: Arbeitsgruppe Analysis und Systemtheorie
• 依托单位国家: 德国
• 项目类别: Research Grants
• 资助国家: 德国
• 项目状态: 未结题
• 来源: https://gepris.dfg.de/gepris/projekt/461953135?language=en
• 关键词: Actively; deformable; cannulas; stereotactic; neurosurgery

Today, stereotactic procedures such as biopsies of deep-seated pathologies and deep brain stimulation are performed with surgical instruments that were designed for a straight approach from the entry point on the skull to the deep-seated target point. In this interdisciplinary project - jointly proposed by physicians, engineers, and mathematicians - the feasibility of actively deformable cannulas for stereotactic neurosurgery is assessed. The technique will offer a multitude of alternative routes and planning possibilities to reach a target with considerably reduced risk by avoiding eloquent structures, i.e. fiber bundles of the pyramidal tract and blood vessels.A basic question from the medical perspective is, whether the application of curved trajectories for targeting intracranial pathologies is basically possible and if so, which properties the trajectories should have. An important aspect of using actively deformable cannulas for curved trajectories is the impact on surrounding brain tissue. Hence, traumatic effects due to lateral movements of cannulas have to be analyzed and emerging advantages and risks of such a procedure need to be explored. Based on planning tools, on skull and cadaver models, and based on animal experiments, the goal is to find out, if a surgical approach via curved trajectories is attainable in principle.Nested straight and pre-curved tubes made of shape memory alloy are promising candidates for the development of actively deformable cannulas. The tubes can be displaced and rotated relatively to each other. During extension and retraction of the cannulas along planned paths, lateral movements must be avoided in order to prevent squeezing or cutting of brain tissue. To this end, novel sophisticated cannula models for proper representation of phenomena such as path hysteresis are indispensable for trajectory planning and cannula actuation. Since precise positioning and path following is of utmost importance, a cannula test bench is to be realized in order to explore cannula behavior and application of cannulas together with the novel trajectory planning approach.The combination of a large number of cannula design parameters, the complicated mechanical behavior of the cannula and the multitude of possible trajectories necessitates innovative concepts for trajectory planning. The surgical planning process is formulated as a mathematical optimization problem, in which rather demanding requirements w.r.t. target precision and robustness - encoded in the sensitivity information of the computed solution trajectory - is simultaneously optimized. Based on the resulting optimal solutions, the medical planning of the surgery can be done.

如今，立体定向手术（例如深部病变的活检和深部脑刺激）使用设计用于从颅骨上的进入点到深部目标点的直线入路的手术器械进行。在这个由医生、工程师和数学家共同提出的跨学科项目中，对立体定向神经外科手术中主动变形套管的可行性进行了评估。该技术将提供大量的替代路线和计划的可能性，以达到一个目标，大大降低了风险，通过避免雄辩的结构，即纤维束的锥体束和血管。从医学角度来看，一个基本的问题是，是否弯曲的轨迹的应用，针对颅内病变的目标是基本上是可能的，如果是这样的话，应该有哪些属性的轨迹。将主动变形套管用于弯曲轨迹的一个重要方面是对周围脑组织的影响。因此，必须分析套管侧向移动引起的创伤效应，并探索此类手术的新兴优势和风险。基于计划工具，颅骨和尸体模型，并基于动物实验，目标是找出，如果通过弯曲轨迹的手术方法在原则上是可实现的，由形状记忆合金制成的嵌套直管和预弯曲管是开发主动变形套管的有希望的候选者。管可以相对于彼此移位和旋转。在套管沿着计划路径延伸和缩回期间，必须避免侧向移动，以防止挤压或切割脑组织。为此，用于正确表示诸如路径滞后等现象的新颖复杂的插管模型对于轨迹规划和插管致动是必不可少的。由于精确的定位和路径跟踪是至关重要的，插管测试台是为了探索插管的行为和应用的插管连同新的轨迹规划approach.The大量的插管设计参数的组合，插管的复杂的机械行为和众多的可能的轨迹需要创新的概念，轨迹规划。手术规划过程被制定为数学优化问题，其中相当苛刻的要求w.r.t.目标精度和鲁棒性-编码在计算的解轨迹的灵敏度信息中-被同时优化。基于所得到的最优解，可以进行手术的医疗规划。