MRI-compatible concentric tube robot for intracerebral hemorrhage

摘要 该提案的目标是创建和验证微创磁共振(MR)- 用于脑出血(ICH)排空的兼容同心管机器人。大约每50人中就有1人遭受 在他们有生之年来自非物质文化遗产。当从破裂的血管渗出的血液聚集并形成血管破裂时，就会发生ICH 大脑中的血块(血肿)。脑出血患者30天的死亡率约为40%，占所有死亡人数的一半 发生在急性期，尤其是在最初的48小时内。溢出到颅内血管外的血液是 对周围神经元有毒性，最早可在12-24小时内引起炎症和血肿周围水肿 出血后。这些有害的影响促使紧急治疗来挽救处于危险中的脑组织。我们 提出三个具体目标如下。 具体目标1：创造机器人。我们将优化目前的机器人原型设计，以构建一个新的、 紧凑、精确的核磁共振兼容机器人，可将抽吸管部署在核磁共振扫描仪内。我们会 开发机器人路径规划算法和嵌入式电子学，以实现机器人的精确控制。 具体目标2：启用图像制导。我们将在MRI空间通过整合追踪抽吸插管 插管上有无线核磁共振微线圈。实时核磁共振成像将允许外科医生监测插管位置 术中血肿-脑边界。我们将创建一个导航工作站来控制 机器人，实现包括扩散张量成像的治疗监测，并提供虚拟边界以 加强安全保障。 具体目标3：实验验证。我们将首先描述机器人瞄准的准确性及其路径- 具备台式环境下的跟踪能力。然后，我们将在3T磁共振扫描仪中进行体模研究 评估系统精度，优化导航工作站。我们将以四个绵羊研究来结束 使用真实的组织属性、灌注和其他相关的生物效应来评估该系统。我们会 收集机器人精度数据，量化血肿清除百分比，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.