Automated Procedure Guidance with Ultrasound Imaging Catheters

使用超声成像导管进行自动化手术指导

• 批准号: 8824041
• 负责人: ROBERT D HOWE
• 金额: $ 23.13万
• 依托单位: HARVARD UNIVERSITY
• 依托单位国家: 美国
• 财政年份: 2014
• 资助国家: 美国
• 起止时间: 2014-09-30 至 2016-06-30
• 项目状态: 已结题
• 来源: https://reporter.nih.gov/project-details/8824041
• 关键词: Algorithms; Anatomy; Area; Automobile Driving; Awareness; Behavior; Bladder Neoplasm; Caliber; Cardiac; Cardiac ablation; Catheters; Clinical; Complex; Development; Diagnosis; Distal; Electromagnetics; Elements; Excision; Exposure to; Family suidae; Fatty acid glycerol esters; Fluoroscopy; Frequencies; Goals; Hand; Image; Imagery; Imaging technology; Intervention; Liquid substance; Location; Magnetic Resonance Imaging; Manuals; Maps; Methods; Modality; Modeling; Motion; Muscle; Nephrectomy; Organ; Patients; Performance; Phase; Polymers; Procedures; Process; Radiation; Research; Resolution; Robot; Robotics; Scanning; Side; Site; Solid; Specific qualifier value; Structure; System; Techniques; Technology; Testing; Time; Tissues; To specify; Ultrasonography; Update; Work; X-Ray Computed Tomography; fly; image processing; image registration; image visualization; imaging modality; instrument; minimally invasive; prototype; public health relevance; robot interface; soft tissue; spatial relationship; time use

DESCRIPTION (provided by applicant): This project aims to develop a new imaging technology, robot-driven ultrasound (US) catheter imaging, which will automate navigation and guidance tasks in a range of interventions. The system will use robotic actuation to coordinate motion of the imaging catheter. This will enable two key functions. First, the robot will use electromagnetic (EM) trackers to automatically follow the motion of instruments during the procedure, and point the US imaging catheter at the instrument tip. This will provide continuous real-time images of the interaction between the instrument and tissue. These US images show the actual soft tissue structure at the time of the procedure. Second, the catheter will be scanned across the treatment volume to create large- scale high-resolution 3D+time "panoramic" mosaics for planning and navigation. Real-time images and the overall instrument location and pose will be superimposed on the large-field panoramic view. This will allow the clinician to easily visualize key spatial relationships during the procedure. US imaging catheters have been used in cardiac ablation procedures for over a decade. Image quality can be very good, because the short distance between the probe and tissue target allows the use of high frequencies without aberrations from intervening layers of muscle, fat, and other tissues. At present, all catheter pointing is manually controlled, which is extremely challenging because the relationship between hand controls and image motion is complex and varies across the workspace; this has limited use to a few critical tasks. The proposed project builds on our prior work in developing the robot platform. This hardware and control system interfaces with the controls of existing commercial catheters to provide accurate image acquisition. This system can acquire 3D US mosaics of extended workspaces, and follow trajectories with < 2mm accuracy. To exploit this accomplishment now requires the development of the image acquisition, image processing and user controls aspects of a clinically useful system. Three aims will comprise this project: Specific Aim I will develop methods for processing acquired images for registration, interpolation, and rendering in real-time. Specific Aim II will develop an validate algorithms for driving the US image to follow instruments. Specific Aim III will create a tailored user interface for robot control and image display. The net benefit will be better situational awareness, leading to faster work flow, reduced procedure time, and fewer complications.

描述（由申请人提供）：本项目旨在开发一种新的成像技术，机器人驱动的超声（US）导管成像，它将在一系列干预中自动导航和引导任务。该系统将使用机器人驱动来协调成像导管的运动。这将启用两个关键功能。首先，机器人将使用电磁（EM）跟踪器在手术过程中自动跟踪仪器的运动，并将美国成像导管指向仪器尖端。这将提供仪器和组织之间相互作用的连续实时图像。这些美国图像显示了手术时的实际软组织结构。其次，导管将在整个治疗体中进行扫描，以创建大规模高分辨率3D+时间“全景”马赛克，用于规划和导航。实时图像和整体仪器位置和姿态将叠加在大视场全景视图上。这将使临床医生在手术过程中很容易地看到关键的空间关系。美国显像导管在心脏消融术中已经使用了十多年。图像质量可以非常好，因为探针和组织目标之间的距离很短，允许使用高频率，而不会从肌肉、脂肪和其他组织的中间层产生畸变。目前，所有的导管指向都是手动控制的，这是极具挑战性的，因为手动控制和图像运动之间的关系是复杂的，并且在整个工作空间中是不同的；这限制了对一些关键任务的使用。拟议的项目建立在我们之前开发机器人平台的工作基础上。该硬件和控制系统与现有商用导管的控制接口，以提供准确的图像采集。该系统可以获取扩展工作空间的三维美国马赛克，并以小于2mm的精度跟踪轨迹。为了利用这一成就，现在需要开发图像采集，图像处理和用户控制方面的临床有用的系统。具体目标：我将开发处理获取图像的方法，用于实时配准、插值和渲染。Specific Aim II将开发一种验证算法，用于驱动美国图像跟随仪器。Specific Aim III将为机器人控制和图像显示创建定制的用户界面。最终的好处将是更好的态势感知，从而加快工作流程，缩短程序时间，减少并发症。