TRANSRECTAL PROSTATE THERAPY ROBOT IN CLOSED MRI SCANNER

这个子项目是许多研究子项目中的一个 由NIH/NCRR资助的中心赠款提供的资源。子项目和 研究者（PI）可能从另一个NIH来源获得了主要资金， 因此可以在其他CRISP条目中表示。所列机构为 研究中心，而研究中心不一定是研究者所在的机构。 许多研究已经证明了基于针的治疗和活检程序在前列腺癌管理中的有效性。然而，尽管在临床和生物物理方法学方面取得了所有进展，但精确的解剖学引导的针放置和实际治疗过程的实时监测仍然是未解决的问题。磁共振成像（MRI）已被发现是一种理想的成像模式，用于指导和监测前列腺干预，由于其对软组织异常的高特异性，实时监测针的放置和诱导的生理变化的能力，以及如果结合wil：h光谱显示并发代谢活动的能力。然而，与此同时，封闭式高场MRI在历史上一直是指导微创干预的最不可用的成像模式。扫描仪的高磁场和极其有限的物理空间提出了一个艰巨的工程挑战，和“传统”的困难，如针偏转，组织变形，和目标运动也增加了问题。 我们的最终目标是提供一个技术平台，用于在传统的封闭式MRI扫描仪内，在主动实时MRI引导和监测下，将经直肠穿刺针精确置入前列腺，用于诊断、分析和治疗目的。在以前的工作中，我们已经开发了这样一个集成系统的原型，并证明了我们的方法在各种诊断和治疗应用中的可行性，在体内犬。针对这种RFA，我们建议开发一种更先进的系统，适用于人类患者的各种应用。

This subproject is one of many research subprojects utilizing the resources provided by a Center grant funded by NIH/NCRR. The subproject and investigator (PI) may have received primary funding from another NIH source, and thus could be represented in other CRISP entries. The institution listed is for the Center, which is not necessarily the institution for the investigator. Numerous studies have demonstrated the efficacy of needle-based therapy and biopsy procedures in the management of prostate cancer. Despite all advances in clinical and biophysical methodologies, however, precise anatomy-guided needle placement and real-time monitoring of the actual therapeutic process are still unsolved problems. Magnetic resonance imaging (MRI) has been found to be an ideal imaging modality for guiding and monitoring prostatic interventions, due to its high specificity to soft tissue abnormalities, real-time capability in monitoring needle placement and induced physiological changes, and its ability to show concurrent metabolic activity if combined wil:h spectroscopy. At the same time, however, closed high-field MRI historically has been the most unavailable imaging modality for guiding minimally invasive interventions. The scanner's high magnetic field and extremely confined physical space present a formidable engineering challenge, and "conventional" difficulties such as needle deflection, tissue deformation, and target motion also add to the problem. Our ultimate goal is to provide a technology platform for precise transrectal needle placement into the prostate for diagnostic, analytical, and therapeutic purposes; inside a conventional closed MRI scanner, under active real-time MRI guidance and monitoring. In prior work, we have developed a prototype of such an integrated system and proved the feasibility of our approach in a variety of diagnostic and therapeutic applications, in vivo on canines. In response to this RFA, we propose to develop a more advanced system that is suitable for a variety of applications on human patients.