NRI: Small: Magnetic Resonance Imaging Guided Co-Robotic Active Catheter System

描述(申请人提供)：本研究的目的是开发一种在实时术中磁共振成像(MRI)引导下进行心房颤动消融的联合机器人主动导管系统。这项拟议的研究将把高速核磁共振技术与机器人运动规划和控制技术协同结合起来，开发出一种新型的合作机器人系统。具体地说，这项研究将集中在i)开发用于主动导管系统的机器人运动规划和控制的新模型、算法和开源软件，ii)开发实现术中MRI实时采集和图像重建的算法，以及iii)与临床合作伙伴合作在台式和活体研究中对所开发的技术进行硬件实现和实验验证。拟议研究的智力价值来自于对机器人和医学成像等各个领域的科学贡献，以及这两项技术的创新和协同整合。这项研究将通过追求机器人控制、规划和传感算法来推动机器人技术的发展，这些算法不仅可以处理复杂的状态空间和系统动力学，而且可以处理动态和可变形环境中经常存在的状态空间的不确定性。这里开发的快速MRI成像方法将允许以以前无法达到的速度进行实时数据收集和图像重建。它们将实现心脏的快速解剖成像，但也与心脏成像以外的其他动态MRI应用相关。这将是第一次展示实时引导的MRI程序，其中解剖和导管可以用临床质量的图像实时完全可视化。有了这项技术，介入性核磁共振以及结构和功能成像的进一步改进将成为可能。

DESCRIPTION (provided by applicant): The purpose of the present study is the development of a co-robotic active catheter system for performing atrial fibrillation ablation under real-time intra-operative magnetic resonance imaging (MRI) guidance. The proposed research will synergistically integrate high-speed MRI technologies with robotic motion planning and control techniques to develop a novel co-robotic system. Specifically, the research will focus on i) development of new models, algorithms, and open source software for robotic motion planning and control of active catheter systems, ii) development of algorithms for achieving real-time intra-operative MRI acquisition and image reconstruction, and, iii) hardware realization and experimental validation of the developed technologies in benchtop and in vivo studies in collaboration with clinical partners. The intellectual merit of the proposed research comes from the scientific contributions to the individual fields of robotics and medical imaging as well a novl and synergistic integration of the two technologies. The research will advance the state-of-the-art in robotics, by pursuing robotic control, planning, and sensing algorithms that can not only handle the complicated state-space and system dynamics, but also the uncertainty about the state-space, often present in dynamic and deformable environments. The rapid MRI imaging methods developed here will allow real-time data collection and image reconstruction at a previously unattainable rate. They will enable rapid anatomical imaging of the heart, but also be relevant to other dynamic MRI applications besides cardiac imaging. This will be the first demonstration of a real-time guided MRI procedure where the anatomy and catheter can be completely visualized in real-time with clinical quality images. With this technology, further improvements in both interventional MRI as well as structural and functional imaging will be possible.