MRI Compatible Body-Mounted Robot to Streamline Pediatric Shoulder Arthrography

MRI 兼容的体载机器人可简化儿科肩关节造影术

• 批准号: 9353413
• 负责人: Kevin R. Cleary
• 金额: $ 49.77万
• 依托单位: CHILDREN'S RESEARCH INSTITUTE
• 依托单位国家: 美国
• 财政年份: 2016
• 资助国家: 美国
• 起止时间: 2016-09-15 至 2020-06-30
• 项目状态: 已结题
• 来源: https://reporter.nih.gov/project-details/9353413
• 关键词: Ablation; Adult; Age; American; Ankle; Anxiety; Arthrography; Biopsy; Cadaver; Child; Childhood; Clinical; Clinical Trials; Databases; Diagnosis; Diagnostic; Drainage procedure; Embalming; Environment; Evaluation; Fluoroscopy; Future; Goals; Hip region structure; Human; Image; Injectable; Injection of therapeutic agent; Injury; Intervention; Joints; Knee; Lead; Location; MRI Scans; Magnetic Resonance Imaging; Manuals; Medicare; Modality; Motor; Multi-Institutional Clinical Trial; Nature; Needles; Pathology; Patients; Pediatrics; Physicians; Positioning Attribute; Procedures; Puncture biopsy; Radiation; Radiation exposure; Research; Risk; Robot; Robotics; Sedation procedure; Shoulder; Site; Sports; Structure; System; Techniques; Technology; Technology Transfer; Testing; Thermal Ablation Therapy; Time; Universities; Upper Extremity; Work; Wrist; X-Ray Computed Tomography; anxious; articular cartilage; base; cost; design; design and construction; image guided; image guided intervention; imaging capabilities; musculoskeletal imaging; musculoskeletal injury; novel; pediatric patients; public health relevance; radiologist; research facility; safety and feasibility; standard of care

 DESCRIPTION (provided by applicant): The goal of this proposal is to develop and evaluate a Patient-Mounted MRI-Compatible Shoulder Arthrography Robot for Needle Guidance in Pediatric Interventional Procedures. The body-mounted robot will enable a novel streamlined workflow for pediatric arthrography that will eliminate the need for fluoroscopy while providing accurate needle guidance in the MRI environment. Arthrography is a commonly performed procedure for evaluation of joint condition, including the shoulder, hip, knee, and ankle, among other sites. While this proposal is focused on pediatrics, the techniques developed are applicable to adult procedures as well. The robotic technology developed here will also be applicable to many other needle-based procedures, including biopsy, drainage, and ablation. This proposal is a first step in our long-term goal of offering MRI-guided radiation free procedures to our pediatric patients. MRI scanning is the standard of care for musculoskeletal imaging and therefore musculoskeletal injuries are well suited to MRI-guided interventions. Our specific aims are to: 1. Design, construct, and evaluate a patient-mounted, MRI-compatible robot for shoulder arthrography. The robot will be strapped on the child in the MRI scanner and will precisely orient a needle guide for contrast injection, based on the images. The physician will place the needle manually through the needle guide and inject the contrast once the needle position is verified. A diagnostic MRI will then be obtained to observe the spread of contrast and evaluate the joint condition. 2. Develop a path planning workstation for image-to-robot registration, selection of the target location, and trajectory verification before manual needle insertion. 3. Integrate the robot with the planning workstation and evaluate the system in the MRI environment using anthropomorphic phantoms. Modify the system as needed and complete final testing on Thiel-embalmed cadavers using the MRI research facility at the University of Dundee (UK). 4. Obtain the required approvals and then complete a first-in-human clinical trial in ten pediatric subjects to evaluate the safety and feasibility of the technique.

 描述（由适用提供）：该提案的目的是开发和评估患者兼容的MRI兼容的肩部关节造影机器人用于小儿介入程序的针头指导。体内安装的机器人将使小儿关节造影的新型简化工作流程可以消除对荧光镜的需求，同时在MRI环境中提供准确的针头指导。关节造影是评估关节状况的通常执行的程序，包括肩膀，臀部，膝盖和脚踝等其他部位。尽管该提案的重点是儿科，但开发的技术也适用于成人程序。这里开发的机器人技术也将适用于许多其他基于针的程序，包括活检，排水和消融。该提案是我们长期目标的第一步，即向儿科患者提供MRI引导的无辐射程序。 MRI扫描是肌肉骨骼成像的护理标准，因此肌肉骨骼损伤非常适合MRI引导的干预措施。我们的具体目的是：1。设计，构建和评估用于肩部关节造影的患者安装的，与MRI兼容的机器人。机器人将绑在MRI扫描仪中的孩子上，并根据图像准确地将针头指南定向。一旦验证了针头位置，物理学将手动将针头通过针导向对比度。然后将获得诊断MRI，以观察对比的扩散并评估关节条件。 2。开发一个路径规划工作站，以进行图像到机器人的注册，目标位置的选择以及在手动针头插入之前的轨迹验证。 3。将机器人与计划工作站集成，并使用拟人化幻象在MRI环境中评估系统。根据需要修改系统，并使用邓迪大学（英国）的MRI研究设施对Thiel Embalmed Cadavers进行完成。 4。获得所需的批准，然后在十个儿科受试者中完成一项人类临床试验，以评估该技术的安全性和可行性。