Ultrasound Guidance for a Laparoscopic Surgical Robot

腹腔镜手术机器人的超声引导

• 批准号: 7276676
• 负责人: RUSSELL H TAYLOR
• 金额: $ 36.51万
• 依托单位: INTUITIVE SURGICAL, INC.
• 依托单位国家: 美国
• 财政年份: 2006
• 资助国家: 美国
• 起止时间: 2006-08-15 至 2010-07-31
• 项目状态: 已结题
• 来源: https://reporter.nih.gov/project-details/7276676
• 关键词: Ablation; Achievement; Architecture; Behavior; Benchmarking; Biopsy; Cadaver; Cardiac; Clinic; Clinical; Clinical Research; Collaborations; Condition; Development; Disease; Effectiveness; Endoscopes; Environment; Evaluation; Excision; Eye; Face; Family suidae; Foundations; Goals; Gold; Hand; Hepatic; ImProv; Image; Image-Guided Surgery; Imagery; Imaging Device; Institution; Intervention; Invasive; Laparoscopy; Laparotomy; Lesion; Life; Liver; Liver neoplasms; Location; Magnetic Resonance Imaging; Malignant neoplasm of liver; Measures; Metastatic Neoplasm to the Liver; Morbidity - disease rate; Motion; Needles; Operative Surgical Procedures; Outcome; Patients; Performance; Phase; Placement; Pliability; Procedures; Process; Puncture biopsy; Range; Research; Research Infrastructure; Research Institute; Research Personnel; Robot; Robotics; Small Business Technology Transfer Research; Software Tools; Staging; Standards of Weights and Measures; Surgeon; Surgical incisions; Surveys; Sus scrofa; System; Techniques; Technology; Testing; Today; Tweens; Ultrasonography; United States Food and Drug Administration; Universities; Urologic Surgical Procedures; Virtual Tool; Vision; Work; base; cancer therapy; clinically relevant; comparative; design; evaluation/testing; experience; image visualization; improved; in vivo; innovation; instrument; liver imaging; programs; prototype; sound; success; tool; tumor

DESCRIPTION (provided by applicant): This proposal represents the second phase of an STTR partnership involving Intuitive Surgical Systems and Johns Hopkins University. Phase I demonstrated the feasibility and promise of integrating laparoscopic ultrasound (LUS) capability into daVinci. Phase II will develop a complete, integrated application environment and testbed surgical applications for LUS-guided liver surgery. Our general goal is to provide the image quality and access of "open" ultrasonography in a minimally-invasive environment, while also improving the surgeon's ability to do ultrasound-guided procedures. The Phase II system will provide a realistic evaluation of the potential of an LUS-capable daVinci system for hepatic surgery as well as evaluation of the design choices and trade-offs in the functions developed. Phase II has 3 specific aims: Specific Aim 1: Develop functional capabilities required for LUS-assisted robotic surgery. We will extend the Phase I architecture to improve robustness, flexibility, and suitability for evaluation. Other functional enhancements include an articulated robotic LUS probe, prototype biopsy and ablation tools, "virtual fixtures" and improved semi-automated behaviors for ultrasound imaging and targeting of lesions, LUS visualization capabilities integrated into the daVinci user interface, as well as other significant enhancements to the interface permitting the surgeon to interact with LUS system, images, and other functions of the system. Specific Aim 2: Produce an Integrated Robotic System for LUS-Assisted Hepatic Surgery. We will combine these capabilities to produce a system suitable for in-vivo testing of 3 hepatic procedures: 1) assessment (staging) to locate and measure tumors; 2) Needle placement for biopsy/ablation; and 3) resection of small tumors. In each case, the goal is to combine the fundamental capabilities developed in Aim 1 with sufficient application-specific tooling and software to provide necessary clinically relevant context for development and to support the evaluations proposed in Aim 3. Specific Aim 3: Evaluate the effectiveness of the overall system and specific functions for hepatic surgery through in-vivo evaluations and ex vivo phantoms. A successful Phase II will provide the foundation of a product that will enable surgeons to perform US-guided hepatic procedures in a minimally invasive manner with the image quality and dexterity currently available with open laparotomies. This has the potential to reduce morbidity, and improve efficacy and efficiency for liver cancer treatment.

描述（由申请人提供）：该提案代表了 Intuitive Surgical Systems 和约翰霍普金斯大学 STTR 合作伙伴关系的第二阶段。第一阶段展示了将腹腔镜超声 (LUS) 功能集成到达芬奇中的可行性和前景。第二阶段将为LUS引导的肝脏手术开发一个完整的、集成的应用环境和试验台手术应用。我们的总体目标是在微创环境中提供“开放”超声检查的图像质量和访问权限，同时提高外科医生进行超声引导手术的能力。 II 期系统将对具有 LUS 功能的达芬奇系统在肝手术中的潜力进行实际评估，并对设计选择和开发功能的权衡进行评估。第二阶段有 3 个具体目标： 具体目标 1：开发 LUS 辅助机器人手术所需的功能能力。我们将扩展第一阶段的架构，以提高鲁棒性、灵活性和评估的适用性。其他功能增强包括铰接式机器人 LUS 探头、原型活检和消融工具、“虚拟固定装置”和改进的超声成像和病变靶向半自动化行为、集成到达芬奇用户界面中的 LUS 可视化功能，以及允许外科医生与 LUS 系统、图像和系统其他功能交互的界面的其他重大增强。具体目标 2：生产用于 LUS 辅助肝脏手术的集成机器人系统。我们将结合这些功能来生产适合 3 种肝脏手术体内测试的系统：1）评估（分期）以定位和测量肿瘤； 2) 活检/消融的置针； 3）切除小肿瘤。在每种情况下，目标都是将目标 1 中开发的基本功能与足够的特定于应用的工具和软件相结合，为开发提供必要的临床相关背景，并支持目标 3 中提出的评估。具体目标 3：通过体内评估和离体模型评估肝脏手术的整体系统和特定功能的有效性。第二阶段的成功将为产品奠定基础，使外科医生能够以微创方式进行超声引导的肝脏手术，并具有目前开放式剖腹手术的图像质量和灵活性。这有可能降低发病率，提高肝癌治疗的疗效和效率。