Robotically Assisted Mouse Interventions

描述(由申请人提供)：监测药物或放射干预对癌症患者的影响是管理疾病的重要工具。目前使用影像监测肿瘤治疗反应的方法包括CT和PET扫描。新兴的方法包括功能成像和分子成像。除了使用成像来直观地评估肿瘤生长外，医生还可以对肿瘤进行活组织检查，以通过组织病理学评估肿瘤的反应。小鼠模型越来越多地被用于研究可能的癌症治疗方法，同样的成像/活组织检查技术也经常用于小鼠模型。根据成像研究对小鼠进行活组织检查并在小鼠的同一区域进行重复活组织检查的能力将使小鼠研究更加准确和可重复。因此，在该提案中，我们计划开发一种基于磁共振图像的机器人系统，用于小鼠的活组织检查和相关的穿刺术。机器人系统将允许从我们的小动物磁共振扫描仪定位解剖结构，并将包括一个专门的鼠标支架来固定动物。为了让机器人系统能够执行这些程序，必须将动物安全地限制在动物饲养器中。此外，要进行活组织检查的区域必须以某种方式牢牢握住，就像有经验的动物技术员用手指握住一样。因此，我们还建议开发一种新的鼠标支架作为这项工作的一部分。因此，具体的目的是：1.研制一种老鼠夹，以约束动物并暴露侧翼以进行活检和/或注射。将现有的机器人针驱动器与鼠标支架集成在同一平台上。2.为机器人研制了一种新的针架，并开发了从小动物MRI图像中控制机器人的软件，以实现精确的针头引导。3.使用10只小鼠进行可行性研究，以演示机器人对MRI图像上选定的小鼠侧翼进行活组织检查的能力，并评估系统的准确性。

DESCRIPTION (provided by applicant): Monitoring the effects of pharmaceutical or radiation intervention in cancer patients is an important tool in the management of disease. Current methods for monitoring tumor response to therapy using imaging include CT and PET scanning. Emerging methods include functional and molecular imaging. In addition to the use of imaging to visually assess tumor growth, a physician may biopsy the tumor to assess the tumor response via histopathology. Mouse models are increasingly used in the study of possible cancer treatments and these same imaging/biopsy techniques are often used in mouse models. The ability to biopsy the mouse based on an imaging study and to perform repeat biopsies in the same region of the mouse would enable more accurate and repeatable mouse studies. Therefore, in the proposal we plan to develop a robotic system for biopsy and related needle procedures in mice, based on MR images. The robotic system will allow for targeting of the anatomy from our small animal MR scanner, and will include a specialized mouse holder for securing the animal. For the robotic system to be able to perform these procedures, the animal must be securely restrained in an animal holder. In addition, the area to be biopsied must be firmly held in some manner, much like the area is held by the fingers of an experienced animal technician. Therefore, we also propose to develop a new mouse holder as part of this work. The specific aims are therefore: 1. Develop a mouse holder to restrain the animal and expose the flank for biopsy and/or injection. Integrate an existing robotic needle driver with the mouse holder on the same platform. 2. Manufacture a new needle holder for the robot and develop the software to command the robot from small animal MRI images for precision needle guidance. 3. Perform a feasibility study using 10 mice to demonstrate the ability of the robot to biopsy the mouse flank as selected on the MRI images and evaluate the accuracy of the system.