REBOT: Robotic Endobronchial Optical Tomography

REBOT：机器人支气管内光学断层扫描

• 批准号: EP/N019318/1
• 负责人: Guang-Zhong Yang
• 金额: $ 105.62万
• 依托单位: Imperial College London
• 依托单位国家: 英国
• 项目类别: Research Grant
• 财政年份: 2016
• 资助国家: 英国
• 起止时间: 2016 至 无数据
• 项目状态: 已结题
• 来源: https://gtr.ukri.org/projects?ref=EP%2FN019318%2F1
• 关键词: REBOT; Robotic; Endobronchial; Optical; Tomography

Lung cancer is a challenging disease to diagnose and treat, and is the most common cause of cancer death in both men and women worldwide. Five year survival rates remain poor at 9.0%, and on a global basis, the 2012 statistics suggest that lung cancer was responsible for 1.59 million deaths. A particular difficulty is that most lung cancers are diagnosed at a late stage, with about 75% of patients having advanced disease at the time of diagnosis. Identification of patients with lung cancer at an earlier stage is therefore vital if outcomes are to be improved. CT screening can identify possible cancerous nodules in the lung, but biopsy and histology, in which a tissue sample is examined under a microscope, is then required for diagnosis. The standard procedure to extract the tissue sample is trans-thoracic biopsy, in which a needle is inserted through the chest wall, typically under CT image guidance. This provides good diagnostic results, but is associated with complications, especially pneumothoraces (collapsed lung) which occurs in 15% of cases. More recently, technical advances have allowed biopsy to be performed through a bronchoscope, reducing the risk of complications and allowing the procedure to be performed during routine examination sessions. However, success is highly operator dependent and for remote, small nodules, the diagnostic rate (the yield) is poor. This is due to a number of factors, including the complexity of the bronchial tree, patient motion due to breathing (particularly at distal segments), poor ergonomics, and the large diameter of bronchoscopes prohibiting access beyond fourth generation bronchial segments (the fourth level of 'splitting' in the bronchial tree). The purpose of the REBOT project is to develop a robot-guided endobronchial probe that will allow access to the deepest reaches of the lung. It will be introduced through a working channel of a bronchoscope, making it highly compatible with current procedures. The probe will have integrated optical coherence tomography (OCT) and fluorescence imaging to allow multi-modal visualisation of the morphological and cellular details of the airways. Optical coherence tomography will provide 3D images to a depth of 1-2 mm into the tissue, while fluorescence imaging will provide high resolution surface imaging. These real-time imaging techniques will be used to help navigate the probe to the correct location for extraction of the biopsy tissue sample, increasing the chances of a successful diagnosis.

肺癌是一种诊断和治疗具有挑战性的疾病，是全球男性和女性癌症死亡的最常见原因。五年生存率仍然很低，为9.0%，在全球范围内，2012年的统计数据表明，肺癌导致159万人死亡。一个特别的困难是，大多数肺癌是在晚期被诊断出来的，大约75%的患者在诊断时患有晚期疾病。因此，如果要改善结果，在早期阶段识别肺癌患者至关重要。CT筛查可以识别肺中可能的癌性结节，但活检和组织学检查，其中组织样本在显微镜下检查，然后需要诊断。提取组织样本的标准程序是经胸活检，其中通常在CT图像引导下将针插入穿过胸壁。这提供了良好的诊断结果，但与并发症有关，特别是气胸（肺萎陷），发生在15%的病例中。最近，技术进步允许通过支气管镜进行活检，降低了并发症的风险，并允许在常规检查期间进行该程序。然而，成功是高度依赖于操作员和远程，小结节，诊断率（产量）是穷人。这是由于多种因素造成的，包括支气管树的复杂性、呼吸引起的患者运动（特别是在远端段）、人体工程学较差以及支气管镜的大直径禁止进入第四代支气管段（支气管树中的第四级“分裂”）。REBOT项目的目的是开发一种机器人引导的支气管内探头，该探头将允许进入肺的最深处。它将通过支气管镜的工作通道引入，使其与当前程序高度兼容。该探头将集成光学相干断层扫描（OCT）和荧光成像，以实现气道形态和细胞细节的多模式可视化。光学相干断层扫描将提供深入组织1-2 mm的3D图像，而荧光成像将提供高分辨率表面成像。这些实时成像技术将用于帮助将探头导航到正确的位置，以提取活检组织样本，从而增加成功诊断的机会。

项目成果

Toward Endobronchial Intervention: A Pre-Curved Continuum Robot with Large Deflection and Linear Elasticity

支气管内介入：具有大偏转和线性弹性的预弯曲连续体机器人

• 发表时间: 2018
• 作者: Gao A

Dental impression technique using optoelectronic devices

使用光电设备的牙科印模技术

• DOI: 10.1117/12.2281775
• 发表时间: 2018
• 作者: Duma V

Design optimization of a contact-aided continuum robot for endobronchial interventions based on anatomical constraints

• DOI: 10.1007/s11548-019-01972-8
• 发表时间: 2019-04
• 期刊: International Journal of Computer Assisted Radiology and Surgery
• 影响因子: 3
• 作者: L. Ros-Freixedes;Anzhu Gao;Ning Liu;Mali Shen;Guang-Zhong Yang

Medical Image Computing and Computer Assisted Intervention - MICCAI 2018 - 21st International Conference, Granada, Spain, September 16-20, 2018, Proceedings, Part II

医学图像计算和计算机辅助干预 - MICCAI 2018 - 第 21 届国际会议，西班牙格拉纳达，2018 年 9 月 16-20 日，会议记录，第二部分

• DOI: 10.1007/978-3-030-00934-2_37
• 发表时间: 2018
• 作者: Gu Y

Kinematics and Workspace Analysis of A Contact-Aided Continuum Robot with Laser Profiling

具有激光仿形的接触辅助连续体机器人的运动学和工作空间分析

• 发表时间: 2018
• 作者: Freixedes L