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

描述（由申请人提供）：本研究的目的是开发一种用于在实时术中磁共振成像（MRI）引导下进行房颤消融的协作机器人主动导管系统。拟议的研究将协同整合高速MRI技术与机器人运动规划和控制技术，以开发一种新型的协作机器人系统。具体而言，该研究将侧重于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）开发用于实现实时术中MRI采集和图像重建的算法，以及iii）与临床合作伙伴合作，在实验室和体内研究中对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各个领域的科学贡献，以及这两种技术的新颖和协同整合。该研究将通过追求机器人控制，规划和传感算法，不仅可以处理复杂的状态空间和系统动力学，而且还可以处理状态空间的不确定性，通常存在于动态和可变形环境中，来推进机器人技术的最新发展。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。这将是实时引导MRI程序的首次演示，其中解剖结构和导管可以通过临床质量图像实时完全可视化。有了这项技术，介入MRI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.