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A Biomimetic Flexible Soft Tissue Probe for Computer Assisted Minimally Invasive Intervention

用于计算机辅助微创干预的仿生柔性软组织探头

基本信息

批准号：
EP/E040918/1
负责人：
Ferdinando Rodriguez Y Baena
金额：
$ 27.83万
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：
2007
资助国家：
英国
起止时间：
2007 至无数据
项目状态：
已结题

来源：
https://gtr.ukri.org/projects?ref=EP%2FE040918%2F1
关键词：
Biomimetic Flexible Soft Tissue Probe

项目摘要

The proposed research involves the design and proof of concept of a biomimetic soft tissue probe, inspired by the ovipositor of a wood-boring wasp, with an application to computer assisted brain biopsy. The probe will be able to be steered along curved paths within the body, but in contrast to the wood wasp's ovipositor, will displace the tissue (e.g. syringe needle) rather than removing it (e.g. drilling). In essence, the biomimetic probe will enable a hollow tube to be inserted deep into soft tissue accurately, without the need to exploit a natural orifice, for use in any number of minimally invasive procedures. This feasibility study will focus on three aspects: probe design, actuation, and control. It will also lay the foundation for the further development of an intelligent probe where the insertion process is guided interactively by pre-operative image data, allowing deep lesions of the brain and other regions of the human body to be accessed with greater accuracy and repeatability. Operative complications due to non-diagnosis and post-operative haemorrhaging could also be reduced through precise pre-operative planning of the probe's insertion and target points i.e. through the planning of a suitable trajectory that would minimise the distance between the two, whilst avoiding major veins, arteries, nerves and other vital structures. The planned procedure would be executed in the operating theatre by the flexible probe under computer assistance.The proposed project will comprise three main components:1) The design of a flexible probe capable of smooth three-dimensional motion through soft tissue.2) The design of an actuation mechanism and control strategy to drive the probe.3) The integration of the probe and the actuation mechanism into a fully functional system suitable for in vitro experimentation on synthetic soft tissue specimen.The probe design will essentially be composed of a two-part thin biopsy probe (1mm-3mm diameter, approximately 40cm in length), with the reciprocating motion of the two halves driving the head into the tissue without the need for any external force applied at the base; the drive unit, composed of three actuators, plus control software and hardware; a graphical interface for progress monitoring and user interaction; and, optionally, a tracking device (e.g. the magnetic tracker) to monitor the position of the probe head in real-time. This will require an investigation into suitable materials, surface coatings and surface topographies to minimise the impact that inserting the probe would have on the surrounding tissue. Further research will also be needed on the development of suitable probe actuation methods, in order to avoid any tissue damage, and control strategies, for automatic targeting and obstacle avoidance.

拟议的研究涉及仿生软组织探针的设计和概念验证，灵感来自钻木黄蜂的产卵器，并应用于计算机辅助脑活检。探针将能够沿着身体内的弯曲路径沿着操纵，但与木黄蜂的产卵器相反，探针将移动组织（例如注射器针头）而不是移除组织（例如钻孔）。从本质上讲，仿生探针将使中空管能够准确地插入软组织深处，而不需要利用自然孔口，用于任何数量的微创手术。这项可行性研究将集中在三个方面：探头设计，驱动和控制。它还将为智能探头的进一步开发奠定基础，其中插入过程由术前图像数据交互式引导，允许以更高的准确性和可重复性进入大脑和人体其他区域的深部病变。由于非诊断和术后出血引起的手术并发症也可以通过精确的术前计划探头的插入和目标点来减少，即通过计划合适的轨迹，该轨迹将最小化两者之间的距离，同时避免主要静脉、动脉、神经和其他重要结构。计划中的程序会在手术室内，由电脑辅助的弹性探针执行。建议的计划包括三个主要部分：1）设计能够通过软组织平滑三维运动的柔性探针。2）设计驱动探针的致动机构和控制策略。3）将探针和致动机构集成到适合于在合成软组织标本上进行体外实验的全功能系统中。探针设计将基本上由两部分薄活检探针组成（1 mm-3 mm直径，约40 cm长），两个半部的往复运动驱动头部进入组织，而不需要在基部施加任何外力;驱动单元，由三个致动器组成，加上控制软件和硬件;用于进度监控和用户交互的图形界面;以及可选地，用于实时监控探头位置的跟踪设备（例如，磁性跟踪器）。这将需要对合适的材料、表面涂层和表面形貌进行调查，以最大限度地减少插入探头对周围组织的影响。还需要进一步研究开发合适的探头驱动方法，以避免任何组织损伤，以及自动瞄准和避障的控制策略。