Real-Time MRI Guided Robotic Catheter System for Atrial Fibrillation Ablation

摘要 本研究的目的是设计一种MRI引导的机器人导管系统， 房颤消融治疗的有效性。具体来说，在这项研究中，研究人员将开发 MRI引导的机器人血管内导管系统，通过协同整合新型实时MRI、机器人 导管控制和先进的人机界面技术。开发的机器人系统将 寻求消除因治疗不准确和不充分而导致的复发，以及由此导致的并发症 通过使医生能够有效地观察、导航和控制导管， 到解剖学。该系统将提高医生可视化心脏解剖结构的能力， 医生使用术中MRI实时评价基底深度和创建的病变。的精确 并且灵巧的机器人导管控制将使医生能够准确和容易地操纵导管， 与心房保持牢固接触，以产生透壁瘢痕并确保连续轨迹 没有间隙。先进的人机界面将实现直观和灵巧的导管控制， 为医生提供无与伦比的情景感知。研究人员将整合开发的 将这些技术整合到完整的MRI引导机器人导管系统原型中，并在台架上对其进行验证 实验以及在大型动物研究中的体内。

Abstract The purpose of the present study is to design an MRI-guided robotic catheter system to significantly improve the efficacy of atrial fibrillation ablation interventions. Specifically, in this study, the investigators will develop an MRI-guided robotic intra-vascular catheter system by synergistically integrating novel real-time MRI, robotic catheter control, and advanced human-machine interface technologies. The developed robotic system will seek to eliminate recurrences resulting from inaccurate and insufficient treatment, and complications resulting from over-treatment by enabling the physician to effectively see, navigate, and control the catheter in relation to the anatomy. The system will improve the physician's ability to visualize the cardiac anatomy and allow the physician to evaluate the substrate depth and lesion created in real-time using intraoperative MRI. The precise and dexterous robotic catheter control will enable the physician to accurately and easily steer the catheter and maintain robust contact with the atrium to generate a transmural scar and ensure a continuous trajectory without gaps. The advanced human-machine interface will enable intuitive and dexterous catheter control and provide the physician with unparalleled situational awareness. The investigators will integrate the developed technologies into a complete MRI-guided robotic catheter system prototype, and validate them in benchtop experiments as well as in vivo in a large animal study.