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，以显著改善 房颤消融干预的疗效。具体地说，在这项研究中，调查人员将开发 磁共振引导的机器人血管内导管系统协同集成新型实时磁共振成像、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产生的并发症 通过使医生能够有效地查看、导航和控制相关的导管来防止过度治疗 向解剖学致敬。该系统将提高医生可视化心脏解剖结构的能力，并允许 医生使用术中MRI实时评估基质深度和所造成的病变。精准的 而灵巧的机器人导管控制将使医生能够准确和容易地引导导管和 保持与中庭的牢固接触，以形成穿壁疤痕，并确保轨迹连续 没有缝隙。先进的人机界面将使直观和灵活的导管控制和 为医生提供无与伦比的情境感知。调查人员将整合已开发的 技术转化为完整的MRI引导的机器人导管系统原型，并在台式计算机上进行验证 实验以及在大型动物体内的研究。

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.