Optically Sensorized, Actuated Needles for Oncological Applications

用于肿瘤学应用的光学传感器化致动针 智能光纤系统公司（IFOS） 2363 Calle del Mundo，Santa Clara，CA 95054-1008 www.ifos.com 项目总结/摘要（最多30行） 在这个直接到第二阶段的SBIR应用中，IFOS和德克萨斯A&M大学建议开发和验证 一种用于精确成像辅助经皮穿刺的主动转向、肌腱驱动、小口径针， 专注于深层组织活检的手术。对临床医生的采访证实， 这一能力将大大改善活组织检查和药物输送的临床方法。用目前的方法，精确 在以深部组织为目标的手术中，针的放置并不总是可能的， 由于解剖学障碍和需要避开重要器官而受到限制。此外，由于针 当针被插入时，来自周围组织的力导致针偏离计划的路径。 导致多次重新插入，增加了患者的不适和手术时间，并损害了 微创手术的有效性。所提出的主动转向可以补偿偏转 在插入过程中遇到的，这变得越来越重要的路径延长的目标。 主动转向概念基于线性伺服电机，其通过连接的 腱纤维空心镍钛针的设计特征允许药物输送和激光等应用 当另一根针插入宿主针芯内时，消融。这种设计还包括一个可拆卸的 核心与附加光纤布拉格光栅感测阻碍内部身体部位，减少对辅助的需要， 手术过程中的MR成像。如果操作员想要查看这些图像， 由于针本身与MRI兼容，因此在手术过程中不会出现阻塞。在先前的工作中， 在模拟人类特性的幻影中， 前列腺组织，并且，我们已经实施了更薄的针头设计，直观的控制台设计概念， 闭环控制系统，可实现实时针曲率和原位组织反作用力 测量. 最初的努力是为了证明更大的偏转效率使用各种针插入 策略，并最终完成临床可部署针和相关控制台的设计， 专家和潜在消费者的意见。这项工作将导致进一步的发展活动，包括 更薄的针头设计，增强的控制台设计，以及闭环控制系统， 实现实时针曲率和原位组织反作用力测量。 IFOS团队还将研究利用轴向旋转和其他 已知的被动控制策略，从而为针增加弯曲自由度和灵活性 系统这些研究将在一系列体内实验中达到高潮，靶向肝/肾活检和药物治疗。 交付程序。针对这些特定临床应用优化针头将推动创新的IFOS 产品走向商业化。

Optically Sensorized, Actuated Needles for Oncological Applications Intelligent Fiber Optic Systems Corporation (IFOS) 2363 Calle del Mundo, Santa Clara, CA 95054-1008 www.ifos.com PROJECT SUMMARY/ABSTRACT (MAXIMUM 30 LINES) In this Direct-to-Phase-II SBIR application, IFOS and Texas A&M University propose to develop and validate an actively steered, tendon-actuated, small-caliber needle for precise imaging-assisted percutaneous procedures with focus on deep tissue biopsies. Interviews with clinicians have confirmed that steering capability would greatly improve clinical methods for biopsy and drug delivery. With current methods, precise needle placement is not always possible in procedures targeting deep tissue, where routes of entry are restricted due to anatomical obstructions and the need to avoid vital organs. Furthermore, as the needle is inserted, forces from the surrounding tissue cause the needle to deflect off the planned path. Such deviations result in multiple reinsertions, adding to patient discomfort and procedure time, and compromising the effectiveness of minimally invasive procedures. The proposed active steering can compensate for deflection encountered during insertion, which becomes increasingly significant as the path to the target lengthens. The active steering concept is based on linear servo motors that actuate needle tip flexion through connected tendon fibers. The design feature of a hollow NiTi needle allows for applications like drug delivery and laser ablation when another needle is inserted within the host needle core. This design also incorporates a removable core with attached fiber Bragg gratings to sense obstructing internal body parts, reducing the need for assistive MR imaging during the procedure. Imaging technologies are still options if the operator wants to view these obstructions during the procedure, since the needle itself is MRI compatible. In prior work, bending rates of over 2 degrees per second have been repeatably achieved in phantoms that mimic the properties of human prostate tissue, and, we have implemented a thinner needle design, an intuitive console design concept, and a closed-loop control system that enables real-time needle curvature and in situ tissue reaction force measurements. The initial effort is designed to demonstrate still greater deflection efficiency using various needle insertion strategies and finalize the design of the clinically deployable needle and the associated controlling console with input from experts and potential consumers. This work will lead to further development activities, including thinner needle designs, an enhanced console design for implementation, and a closed-loop control system that enables real-time needle curvature and in situ tissue reaction force measurements. The IFOS team will also investigate steering protocols that would take advantage of axial rotation and other known passive control strategies, thereby adding bending degrees-of-freedom and dexterity to the needle system. These studies will culminate in a series of in vivo experiments, targeting liver/kidney biopsy and drug delivery procedures. Optimizing the needle for these specific clinical applications will drive the innovative IFOS product towards commercialization.