TRANSRECTAL PROSTATE THERAPY ROBOT IN CLOSED MRI SCANNER

这个子项目是许多研究子项目中利用 资源由NIH/NCRR资助的中心拨款提供。子项目和 调查员(PI)可能从NIH的另一个来源获得了主要资金， 并因此可以在其他清晰的条目中表示。列出的机构是 该中心不一定是调查人员的机构。 许多研究已经证明了针基治疗和活组织检查在前列腺癌治疗中的有效性。然而，尽管在临床和生物物理方法方面取得了所有进展，但精确的解剖学引导的针头放置和对实际治疗过程的实时监测仍然是尚未解决的问题。磁共振成像(MRI)对软组织异常具有很高的特异性，可以实时监测针头的放置和诱发的生理变化，如果结合氢谱分析，它可以同时显示代谢活动，因此被认为是指导和监测前列腺介入治疗的理想成像手段。然而，与此同时，封闭式高场磁共振历来是最不能用于指导微创介入治疗的成像手段。扫描仪的高磁场和极其有限的物理空间给工程带来了巨大的挑战，而针头偏转、组织变形和目标运动等“常规”困难也增加了问题。 我们的最终目标是提供一个技术平台，在主动的实时MRI指导和监测下，在传统的封闭式磁共振扫描仪内，为诊断、分析和治疗目的而精确地将经直肠针头置入前列腺。在之前的工作中，我们已经开发了这样一个集成系统的原型，并在犬的活体实验中证明了我们方法在各种诊断和治疗应用中的可行性。针对这种RFA，我们建议开发一种更先进的系统，该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.