MRI Compatible Robot for Improved Pain Injections in Adults and Children

项目摘要 这项生物工程研究资助提案的目标是开发和评估一个 患者安装的MRI兼容机器人，可精确放置注射针 用于治疗成人和儿童患者的疼痛。这款机器人将 完全消除神经周围注射过程中的辐射暴露， 从荧光透视和计算机断层扫描（CT）引导到MRI环境。MRI 提供了目标神经的无与伦比的可视化和局部注射的递送， 这些神经周围的药物，而不需要人工造影剂。机器人将 通过集成成像，在MRI下实现针尖和目标实时可视化 线圈、用于图像配准的内置基准点和主动针插入/旋转。 我们的具体目标是： 1.开发一种临床级，患者安装的MRI兼容机器人，用于疼痛注射， 下背部和骨盆机器人将被绑在感兴趣的区域， 在所述扫描器孔中定向用于注射的针引导件。机器人将包括主动针 驱动以在针前进时能够实时成像路径和针尖， 远程控制. 2.为机器人系统开发MRI成像线圈和配准基准， 集成到机器人支架中。这种方法将使高分辨率成像的 感兴趣的解剖结构以及成像和机器人坐标系的配准。 3.开发用于图像与机器人配准的轨迹规划工作站，选择 目标位置和轨迹验证 4.将机器人与计划工作站集成并在MRI中评估系统 环境中使用的phantomy和尸体。如果发现任何问题，将予以纠正 在临床试验开始之前。 5.完成临床可行性研究，从约翰霍普金斯的成人研究开始。一旦 成人研究表明机器人系统是可行的和安全的，我们将转移到儿科 在儿童国家研究。

Project Summary The goal of this Bioengineering Research Grant proposal is to develop and evaluate a patient-mounted MRI-compatible robot that allows accurate needle placement for injections around nerves to treat pain in adult and pediatric patients. This body-mounted robot will completely eliminate radiation exposure during perineural injection procedures by transitioning from fluoroscopic and computed tomography (CT) guidance to the MRI environment. MRI provides unmatched visualization of the targeted nerves and delivery of the locally injected medications around these nerves without the need of an artificial contrast agent. The robot will enable needle tip and target visualization under MRI in real-time through an integrated imaging coil, built-in fiducials for image registration, and active needle insertion/rotation. Our specific aims are to: 1. Develop a clinical grade, patient-mounted MRI-compatible robot for pain injections in the lower back and pelvis. The robot will be strapped on the area of interest and will precisely orient a needle guide for injection in the scanner bore. The robot will include active needle driving to enable real-time imaging of the path and needle tip as the needle is advanced via remote control. 2. Develop an MRI imaging coil and registration fiducials for the robotic system that are integrated into the robot mount. This approach will enable high resolution imaging of the anatomy of interest and co-registration of the imaging and robotic coordinate systems. 3. Develop a trajectory planning workstation for image-to-robot registration, selection of the target location, and trajectory verification. 4. Integrate the robot with the planning workstation and evaluate the system in the MRI environment using phantoms and cadavers. If any issues are found, they will be corrected before clinical trials begin. 5. Complete clinical feasibility studies, beginning with an adult study at Johns Hopkins. Once the adult study shows the robot system is feasible and safe, we will move to a pediatric study at Children's National.