MRI-compatible concentric tube robot for intracerebral hemorrhage

摘要 本提案的目的是创建并验证微创磁共振（MR）- 兼容的同心管机器人，用于脑出血（ICH）清除。每50人中就有1人 在他们的一生中，当从破裂血管泄漏的血液积聚并形成出血时， 大脑中的血块（血肿）。ICH的30天死亡率约为40%，占所有死亡的一半 发生在急性期，特别是在最初的48小时内。血液溢出颅内血管 对周围神经元有毒，导致炎症和血肿周围水肿，最早见于12-24小时 出血后。这些有害影响促使紧急治疗以挽救处于危险中的脑组织。我们 提出以下三个具体目标。 目标1：制造机器人。我们将优化目前的机器人原型设计， 紧凑、精确的MRI兼容机器人，用于在MRI扫描仪内部署抽吸套管。我们将 开发机器人路径规划算法和嵌入式电子设备，以实现精确的机器人控制。 具体目标2：启用图像引导。我们将在MRI空间中跟踪抽吸套管， 套管上的无线MRI微弹簧圈。实时MRI将允许外科医生监测插管位置 以及血肿-脑边界的情况我们将创建一个导航工作站来控制 机器人，使治疗监测，包括扩散张量成像，并提供虚拟边界， 提高安全性。 具体目标3：实验验证。我们将首先描述机器人的瞄准精度和它的路径- 在台式环境中的跟随能力。然后，我们将在3 T MRI扫描仪中进行体模研究， 评估系统精度并优化导航工作站。我们将以四项绵羊研究结束， 用真实的组织特性、灌注和其他相关生物效应评估系统。我们将 收集机器人准确性数据，量化血肿清除百分比，并确定对健康的损害 脑组织

ABSTRACT The objective of this proposal is to create and validate a minimally-invasive Magnetic Resonance (MR) - compatible concentric tube robot for Intracerebral Hemorrhage (ICH) evacuation. About 1 in 50 people suffer from ICH in their lifetime. ICH occurs when blood leaked from a ruptured vessel accumulates and forms a blood clot (hematoma) in the cerebrum. The 30-day mortality for ICH is about 40% with half of all deaths occurring in the acute phase, especially in the first 48 hours. Blood spilled outside of the intracranial vessels is toxic to surrounding neurons, causing inflammation and perihematomal edema seen as early as 12-24 hours after hemorrhage. These deleterious effects motivate emergent treatment to save at-risk brain tissue. We propose three specific aims as follows. Specific Aim 1: Create the Robot. We will optimize the current robot prototype design to construct a new, compact, and precise MRI-compatible robot to deploy the aspiration cannula within the MRI scanner. We will develop the robot path planning algorithm and embedded electronics to enable accurate robot control. Specific Aim 2: Enable Image Guidance. We will track the aspiration cannula in MRI space by integrating wireless MRI microcoils on the cannula. Real-time MRI will allow the surgeon to monitor the cannula position and hematoma-brain boundary during the procedure. We will create a navigation workstation to control the robot, enable treatment monitoring including diffusion tensor imaging, and provide a virtual boundary to enhance safety. Specific Aim 3: Experimental Validation. We will first characterize robot targeting accuracy and its path- following ability in the benchtop environment. We will then perform phantom studies in a 3T MRI scanner to evaluate system accuracy and optimize the navigation workstation. We will conclude with four sheep studies to evaluate the system with realistic tissue properties, perfusion, and other relevant biological effects. We will collect robot accuracy data, quantify hematoma evacuation percentage, and determine damage to healthy brain tissue.