A Steerable Compact Robot for MRI-Guided Minimally-Invasive Interventions

1)简要描述研究背景，包括潜在影响微创图像引导干预是现代医学癌症治疗的前沿。在这种情况下，介入MRI在软组织方面具有更高的图像质量和分辨率，因此开辟了新的可能性。此外，与CT成像相比，无辐射可以在手术期间实现连续的视觉反馈，而不会伤害患者或临床医生。然而，使用介入性MRI机器带来了新的挑战：与CT相比，更窄的孔显着减少了临床医生的工作空间和使用的工具，这对手动工具和机器人辅助工具都有影响。此外，对mri兼容性的需求极大地影响了工具的设计。机器人解决方案已经被开发出来，以协助外科医生进行经皮手术，如在肾脏和肝脏肿瘤肿块的冷冻消融和射频消融中插入探针。为了解决这一问题，已经提出了许多机器人解决方案，然而，与针头插入机构的尺寸，重量，驱动和设计相关的许多挑战仍然存在。这个博士项目将专注于开发一个核磁共振兼容的紧凑型机器人，用于经皮针头插入和转向。这种引导系统可以与针状探针一起用于活检、冷冻或射频消融，也可以用于癌症治疗的局部药物输送。该研究将在肿瘤学mri兼容插针领域产生有影响力的结果。为了解决上述挑战，本博士项目将设计一种半自主兼容MRI的紧凑型机器人，用于经皮穿刺活检，冷冻或射频消融，以及用于诊断和治疗癌症的药物输送。该项目的目的是开发和验证这种新型机电系统以及控制方法，以更短的扫描时间和更少的步骤在组织内操纵针头达到预定的目标，以减少患者的痛苦。3)研究方法的新颖性为了将介入机器人部署到真实的临床场景中，还必须考虑生物相容性等临床需求。此外，来自临床专家的意见，特别是介入放射科医生和肿瘤科医生的意见，将是拟议系统发展的关键。在手术室进行定期观察，以了解手术流程，并与临床项目的合作伙伴密切合作。对于所设想的经皮插入系统，开发有效的探针夹紧、插入和转向机制是至关重要的。在插入身体不同部位时，需要考虑不同的插入角度以优化穿刺效果。因此，机器人应该具有角度可调的结构。将测试不同的机制，以评估该应用的最佳驱动技术。夹紧、插入和转向的组合机构将被开发出来，以缩小致动器的尺寸，使其可以在MRI扫描仪的窄孔中使用。一种驱动针状探针进入组织的方法，可能类似于注射器或液压活塞，以及类似的角度可调结构也将被研究。4)与EPSRC的战略和研究领域保持一致介入和手术机器人是当前的研究热点，特别是使用机器人技术治疗肿瘤。拟议的项目与EPSRC物理干预前沿的重大挑战相一致，提出了一种使用mri引导机器人解决方案来引导最先进的针状探针来治疗肿瘤的新方法。5)有公司参与吗？无

1) Brief description of the context of the research including potential impactMinimally-invasive image-guided interventions are at the forefront of cancer treatment in modern medicine. In this context, interventional MRI is opening new possibilities given the higher image quality and resolution when it comes to soft tissues. Furthermore, when compared with CT imaging, the absence of radiations enables continuous visual feedback during surgery without harming the patient or the clinicians. However, the use of interventional MRI machines poses new challenges: the narrower bore in comparison to their CT counterparts significantly reduces the workspace of clinicians and the tools used, which impacts both manual tools and robotic-assisted ones. Moreover, the demand for MRI-compatibility greatly impacts tool designs. Robotic solutions have been developed to assist surgeons in percutaneous procedures such as needle insertion of probes for cryoablation and RF-ablation of tumoral masses in the kidneys and in the liver. A number of robotic solutions to solve this problem have been proposed, however, there are still multiple challenges related to the size, the weight, the actuation and the design of the mechanisms for needle insertion. This PhD project will focus on the development of an MRI-compatible compact robot for percutaneous needle insertion and steering. Such guiding system can be used with needle-shaped probes for biopsies, cryo- or RF-ablations as well as for localised drugs delivery for cancer treatment. The proposed research will generate impactful results in the field of MRI-compatible needle insertion for oncology.2) Aims and ObjectivesIn order to solve the aforementioned challenges, this PhD project will design a semi-autonomous MRI compatible compact robot for percutaneous needle insertion for the biopsy, cryo- or RF-ablations, and delivery of drugs to diagnose and treat cancer. The aim of this project is the development and validation of this novel mechatronic system as well as the control methods to manipulate the needle within the tissue to reach the pre-defined targets with shorter scan times and fewer steps to reduce patients' suffering.3) Novelty of Research MethodologyTo deploy the interventional robot in a real clinical scenario, clinical requirements such as biocompatibility must also be taken into consideration. Moreover, input from expert clinicians, specifically interventional radiologists and oncologists, will be key for the development of the proposed system. Regular observations in the surgical theatre will take place to understand the procedure workflow and work in close collaboration with the clinical project's partners.For the envisioned system for percutaneous insertion the development of efficient mechanisms for probe clamping, inserting, and steering is of paramount importance. In insertions for different parts of the body, different insertion angles need to be considered to optimise the puncturing. Hence, the robot should have an angle-adjustable structure. Different mechanisms will be tested to assess the best actuation technology for this application. Combined mechanisms for clamping, inserting, and steering are going to be developed to downsize the actuator so that it can be used in the narrow bore of the MRI scanner. A method for driving the needle-shaped probe into the tissue, which could be similar to a syringe or hydraulic piston, and similar angle-adjustable structure will also be investigated. 4) Alignment to EPSRC's strategies and research areasInterventional and surgical robotics is a current research hotspot, especially using robotic technology to treat tumours. The proposed project well aligns with the EPSRC grand challenge of the Frontiers of Physical Intervention by proposing a novel approach to treat tumours using MRI-guided robotic solutions to guide state-of-the-art needle-shaped probes.5) Any companies involved? None