MRI-Compatible Fiber-Optically Sensorized Biopsy Needles for Oncological Applicat

用于肿瘤学应用的 MRI 兼容光纤传感活检针

• 批准号: 8061060
• 负责人: Behzad Moslehi
• 金额: $ 19.64万
• 依托单位: INTELLIGENT FIBER OPTIC SYSTEMS CORP
• 依托单位国家: 美国
• 财政年份: 2011
• 资助国家: 美国
• 起止时间: 2011-03-01 至 2012-08-29
• 项目状态: 已结题
• 来源: https://reporter.nih.gov/project-details/8061060
• 关键词: Ablation; Address; Animals; Area; Automobile Driving; Awareness; Biocompatible; Biopsy; Breast; Caliber; Calibration; Cirrhosis; Clinical; Collaborations; Computer software; Contrast Media; Coupled; Cryosurgery; Development; Diagnosis; Diagnostic; Electromagnetics; Feedback; Fiber; Fiber Optics; Freedom; Goals; Hand; Healed; Hemorrhage; Image; Image Guided Biopsy; Imaging Techniques; Immunity; In Vitro; Individual; Intervention; Lesion; Life; Liver; Liver diseases; Magnetic Resonance Imaging; Malignant neoplasm of liver; Measures; Medical; Methods; Minimally Invasive Surgical Procedures; National Cancer Institute; Needle biopsy procedure; Needles; Operative Surgical Procedures; Optics; Organ; Outcome; Patients; Phase; Physicians; Positioning Attribute; Primary carcinoma of the liver cells; Procedures; Prostate; Research; Research Design; Risk; Robotics; Safety; Sampling; Scanning; Shapes; Signal Transduction; Slave; Small Business Innovation Research Grant; Speed; Surgeon; System; Techniques; Technology; Test Result; Testing; Time; Tissues; Trauma; United States National Institutes of Health; Universities; Visual; Work; abstracting; base; capsule; commercialization; cost effective; density; design; healing; image processing; imaging modality; improved; in vivo; instrument; interest; liver biopsy; medical schools; member; miniaturize; minimally invasive; operation; optical fiber; professor; prototype; radiologist; research clinical testing; research study; robot assistance; sensor; success; tissue phantom; tool; tumor

DESCRIPTION (provided by applicant): MRI Compatible Fiber Optically Sensorized Biopsy Needles for Oncological Applications Intelligent Fiber Optic Systems Corporation (IFOS) 2363 Calle del Mundo, Santa Clara, CA 95054-1008 www.ifos.com PROJECT SUMMARY/ABSTRACT (MAXIMUM 30 LINES) Minimally invasive procedures, including biopsies of hard tumors, rely on advances in miniaturized tools and robotic assistance to reduce trauma to patients and speed healing times. However, present tools lack the real- time position awareness that surgeons use to an advantage in open surgery. In this Phase I SBIR proposal to the National Cancer Institute (NCI), IFOS, in collaboration with an interdisciplinary team at Stanford University, proposes to demonstrate real-time needle shape determination as a basis for needle tip tracking, as well as downstream applications for steerable needles. In particular, IFOS and team members aim to develop and test magnetic resonance imaging (MRI)-compatible, optical fiber-sensorized, biopsy needles using real- time needle shape information superposed on MRI images to visualize the intervention area. This addresses the growing interest towards interventional MRI procedures, such as biopsies, ablations, and cryosurgeries performed under continual MR scanning. In particular, the ability to guide biopsy of abnormalities seen on cross-sectional imaging studies is well recognized as an efficient and effective means of achieving a tissue diagnosis, and MRI provides a number of significant advantages over other imaging modalities, all the more so with the advent of new long lived contrasting agents that can only work in tandem with MRI. Preliminary work by the team has already indicated the potential of integrating miniaturized fiber optic (FO) force and deflection sensors based on optical fiber Bragg grating (FBG) technology into robotic tools for shape sensing and force feedback. Fiber optic techniques are especially suited for instrument manipulation within MRI systems due to their immunity to electromagnetic interference (EMI), bio-compatibility and superior robustness as compared with conventional strain gauges. The proposed project aims to demonstrate 3D, high-density integration of FBG sensor arrays into robotic tools such as biopsy needles to provide visual needle path tracking and manipulation in real-time. During Phase I, sensors multiplexed along optical fibers will be embedded into ultrathin biopsy needles and used to determine the entire needle bend shape, including the needle tip position, for MRI-guided biopsy procedures. The 3D needle profiles will be annotated over MR images acquired intraoperatively. Testing will be performed on phantom objects mimicking liver tissue. Liver is chosen as an organ subject due to the high need to reduce positional error and minimize multiple needle passes, thus improving clinical outcomes. This is especially the case in patients susceptible to excessive bleeding, e.g., perihepatic bleeding due to underlying liver disease. As a secondary objective, preliminary designs will be developed to include tool maneuverability, which will be carried into detailed in-vitro and animals studies used to lay out pre-clinical testing and commercialization analysis during Phase II. PUBLIC HEALTH RELEVANCE: This research aims to add miniature fiber-optic shape and force sensors to biopsy needles in order to enhance the precision, safety and efficacy of diagnostic biopsy and minimally invasive surgical procedures on liver tissue (exploiting the breakthrough sensitivity of reduced diameter biocompatible fiber sensors to enable increased success rates and patient comfort, and reduced bleeding complications by precision targeting (reduced need for multiple needle insertions) of suspected tumors, for example, with sensorized needles that are ultrathin (create smaller holes)). During Phase I, design feasibility will be demonstrated for a system that includes working sensors and related image processing and needle steering concepts, applied to phantom livers, with the work extended to more advanced in vitro and in vivo work during Phase II, culminating in a prototype MRI compatible, physician- controlled needle system for image-guided liver procedures. The proposed work will advance the field of intelligent needle development for robotic surgery tools with potentially broad-based spin-off applications for both oncological and non-oncological medical fields.

描述（由申请人提供）：MRI兼容的肿瘤学应用的MRI兼容纤维上有传感器的活检针头智能光纤光纤系统公司（IFOS）2363 Calle del Mundo，Santa Clara，CA 95054-1008 www.ifos.com www.ifos.com对患者的创伤和加快愈合时间。但是，目前的工具缺乏外科医生在开放手术中使用优势的实时位置意识。在这一阶段，IFOS与斯坦福大学的跨学科团队合作，提交了国家癌症研究所（NCI）的建议，建议展示实时的针状确定确定针头尖端跟踪的基础，以及针对可进入需求的下游应用。特别是，IFOS和团队成员旨在开发和测试磁共振成像（MRI）兼容，光纤经镜，活检针对MRI图像上超级贴上的信息，以可视化干预区域。这探讨了对介入的MRI程序的日益兴趣，例如在不断的MR扫描下进行的活检，消融和冷冻效果。特别是，在横截面成像研究中观察到的异常活检的能力被广泛认为是实现组织诊断的一种有效有效的手段，而MRI比其他成像模态提供了许多重要的优势，而与新长期持久的对比剂的出现相比，它仅与MRI一起起来。团队的初步工作已经表明，基于光纤布拉格光栅（FBG）技术的微型光纤（FO）力（FO）力和挠度传感器的潜力是用于形状传感和力反馈的机器人工具。与常规应变测量值相比，光纤技术特别适合于MRI系统内的仪器操作，因为它们对电磁干扰（EMI），生物兼容性和出色的鲁棒性。拟议的项目旨在证明FBG传感器阵列的3D高密度整合到机器人工具中，例如活检针，以实时提供视觉针路跟踪和操纵。在第一阶段，沿光纤沿光纤的传感器将嵌入超薄活检针中，并用于确定整个针头形状，包括针尖的位置，以进行MRI引导的活检程序。 3D针曲线将在术中获得的MR图像上注释。测试将对模仿肝组织的幻影对象进行。由于较高的需要减少位置误差并最大程度地减少多个针头，因此选择肝脏作为器官受试者，从而改善了临床结果。尤其是在易受过多出血的患者中，例如由于潜在的肝病而引起的脊全肝脏出血。作为次要目标，将开发初步设计，以包括工具可操作性，该设计将详细介绍，并将其用于在II期期间进行临床前测试和商业化分析的动物研究。 公共卫生相关性：这项研究旨在将微型纤维形状和力传感器添加到活检针中，以增强诊断活检的精确，安全性和功效，并在肝组织上进行诊断性的侵入性手术程序，从而在肝组织上实现较小的临界范围，从而提高临时纤维的突破性，并提高剪切纤维的敏感性，并提高了迪亚透明的生物影响力的敏感性（减少了多个针插入的需求），例如，具有超薄的感官针（创建较小的孔））。在第一阶段，将展示设计可行性的系统，该系统包括工作传感器和相关的图像处理和针对幻影肝的针头转向概念，其工作扩展到II期期间更先进的体外和体内工作，最终在原型MRI MRI MRI兼容，兼容的MRI MRI兼容，适合于Physician控制的，医师控制的针刺系统，用于图像构造的Liver liver liver liver liver Pasticures。拟议的工作将推进机器人手术工具的智能针头开发领域，并在肿瘤学和非综合医学领域具有潜在的基于广泛的衍生产品。

项目成果

MR-compatible biopsy needle with enhanced tip force sensing.

• DOI: 10.1109/whc.2013.6548393
• 发表时间: 2013-04
• 期刊: World Haptics Conference. World Haptics Conference
• 作者: Elayaperumal S;Bae JH;Christensen D;Cutkosky MR;Daniel BL;Costa JM;Black RJ;Faridian F;Moslehi B
• 通讯作者: Moslehi B