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Pneumatic Robot for MRI-Guided Pediatrics Long Bone Biopsy

用于 MRI 引导儿科长骨活检的气动机器人

基本信息

批准号：
8930925
负责人：
Kevin R. Cleary
金额：
$ 44.08万
依托单位：
CHILDREN'S RESEARCH INSTITUTE
依托单位国家：
美国
项目类别：
财政年份：
2013
资助国家：
美国
起止时间：
2013-09-01 至 2017-08-31
项目状态：
已结题

来源：
https://reporter.nih.gov/project-details/8930925
关键词：
Acute Affect Anesthesia procedures Appearance Area Biopsy Case Study Child Childhood Childhood Solid Neoplasm Clinical Clinical Engineering Clinical Management Clinical Trials Custom Diagnosis Disease Doctor of Philosophy Environment Evaluation Ewings sarcoma Exposure to Fever Goals Goat Health Hematogenous Histologic Hospitals Image Image Guided Biopsy In Vitro Infection Ionizing radiation Joints Lead Leg Lesion Limb structure Location Lymphoma Magnetic Resonance Imaging Malignant - descriptor Malignant Bone Neoplasm Malignant Neoplasms Malignant neoplasm of brain Manuals Marrow Medical Morbidity - disease rate Motor Multi-Institutional Clinical Trial Musculoskeletal Needles Operating Rooms Operative Surgical Procedures Organism Orthopedics Osteomyelitis Pathology Patient Care Patients Pediatrics Physicians Principal Investigator Procedures Process Protocols documentation Radiation Radiation therapy Radiology Specialty Research Resolution Robot Robotics Safety Sampling School-Age Population Sedation procedure Speed Symptoms System Time Tissue Sample Trauma Universities X-Ray Computed Tomography accurate diagnosis base bone chemotherapy clinical decision-making design and construction experience image guided improved innovation long bone neoplastic novel osteosarcoma pediatric patients robot assistance soft tissue

项目摘要

DESCRIPTION (provided by applicant): The goal of this proposal is to develop and evaluate an innovative MRI compatible robot for improved bone biopsy in pediatrics. The robot will enable a new paradigm for rapidly evaluating suspicious bone lesions through image-guided biopsy. This will enable a novel clinical workflow defined with the goal of minimizing trauma and radiation exposure. The robot would have important applications in diagnosing and distinguishing bone cancers and bone infections, greatly facilitating clinical decision-making and therapy management. Malignant bone cancers are the third most common pediatric solid tumors after lymphoma and brain cancers and include osteosarcoma and Ewing sarcoma, with thousands of cases in the US alone. Accurate histologic diagnosis is critical for the planning and initiation of surgery, chemotherapy, and or radiation therapy. Osteomyelitis is a bone infection, with over 50% of reported cases seen in pre-school age children. Accurate diagnosis of the presence of bone infection and the infecting organism is critical for optimal therapy. Importantly, the imaging appearance of neoplastic and infectious pathology can be indistinguishable, making targeted and rapid tissue sampling key to clinical management. Our specific aims are to: 1. Design, construct, and evaluate a pneumatic, MRI compatible robotic-assistant system for long bone biopsy in pediatric patients. The robot will be placed along the limb of the child in the MRI scanner and will precisely orient a needle-guide for biopsy based on the images. The physician will perform the biopsy manually through the needle-guide. 2. Develop a path planning workstation for image-to-robot registration, selecting the location of the target, navigation and targeting based on the images, and means of trajectory verification before manual needle insertion for biopsy. 3. Integrate the robot with the planning workstation and evaluate the system in the MRI environment using custom anthropomorphic pediatric phantoms and goat legs. Modify the system as needed and repeat the evaluations to validate the system in-vitro. 4. Conduct a pilot safety and feasibility clinical trial on ten subjects.

描述(由申请人提供)：这项提案的目标是开发和评估一种创新的磁共振兼容机器人，用于改进儿科的骨活检。该机器人将实现一种新的范式，通过图像引导的活检快速评估可疑的骨骼病变。这将实现一种新的临床工作流程，其目标是将创伤和辐射暴露降至最低。该机器人将在诊断和区分骨癌和骨感染方面具有重要应用，极大地方便临床决策和治疗管理。恶性骨癌是儿童第三大实体肿瘤，仅次于淋巴瘤和脑癌，包括骨肉瘤和尤文肉瘤，仅在美国就有数千例。准确的组织学诊断对于手术、化疗和/或放射治疗的计划和启动至关重要。骨髓炎是一种骨感染，超过50%的报告病例发生在学龄前儿童。准确诊断骨感染的存在和感染的有机体是最佳治疗的关键。重要的是肿瘤和感染性病理的影像表现可能难以区分，这使得有针对性的快速组织采样成为临床处理的关键。我们的具体目标是：1.设计、构建和评估一种气动、MRI兼容的机器人辅助系统，用于儿童患者的长骨活检。该机器人将被放置在核磁共振扫描仪中沿着儿童的肢体，并将根据图像精确定位针导引进行活组织检查。医生将通过导针手动进行活组织检查。2.开发了用于图像到机器人配准的路径规划工作站，根据图像选择目标的位置、导航和定位，以及手动插针活检前的轨迹验证方法。3.将机器人与规划工作站集成，并在磁共振成像环境中使用定制的拟人化儿科模型和山羊腿对系统进行评估。根据需要修改系统，并重复评估以在体外验证系统。4.对10个受试者进行安全性和可行性中试临床试验。

项目成果

期刊论文数量（4）

专著数量（0）

科研奖励数量（0）

会议论文数量（0）

专利数量（0）

Robotically Assisted Long Bone Biopsy Under MRI Imaging: Workflow and Preclinical Study.

DOI：
10.1016/j.acra.2017.08.008
发表时间：
2018-01
期刊：
Academic radiology
影响因子：
4.8
作者：
Cleary K;Lim S;Jun C;Monfaredi R;Sharma K;Fricke ST;Vargas L;Petrisor D;Stoianovici D
通讯作者：
Stoianovici D

A Prototype Body-Mounted MRI-Compatible Robot for Needle Guidance in Shoulder Arthrography.