Optically Sensorized, Actuated Needles for Oncological Applications

用于肿瘤学应用的光学传感驱动针头 智能光纤系统公司(IFOS) 加州圣克拉拉市蒙多街邮编：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 一种主动转向、肌腱驱动的小口径针头，用于精确成像辅助经皮 以深层组织活组织检查为重点的手术。临床医生的访谈已经证实，方向盘 这种能力将极大地改进活组织检查和药物输送的临床方法。用目前的方法，精确地 在针对深层组织的手术中，针头放置并不总是可能的，因为进入的路线是 由于解剖障碍和避开重要器官的需要而受到限制。此外，由于针是 插入后，来自周围组织的力会使针偏离计划的路径。这样的偏差 导致多次重新插入，增加患者的不适感和手术时间，并影响 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，随着通向目标的路径的延长而变得越来越重要。 主动转向的概念是基于直线伺服电机，通过连接驱动针尖弯曲 肌腱纤维。空心镍钛针的设计特点允许药物输送和激光等应用 当另一根针插入主机针芯内时进行消融。这种设计还结合了一种可拆卸的 带有光纤布拉格光栅的磁芯，可以检测身体内部的障碍物，减少了对辅助设备的需求 在手术过程中进行磁共振成像。如果操作员想要查看这些内容，成像技术仍然是选择 由于针头本身与磁共振成像兼容，因此在手术过程中不会出现任何障碍。在以前的工作中，弯曲率 在模仿人类特性的幻影中，每秒超过2摄氏度已经被重复实现 前列腺组织，我们实施了更细的针头设计，直观的控制台设计概念，以及 可实现实时针曲率和原位组织反作用力的闭环控制系统 测量。 最初的努力被设计为使用各种针插入来展示更大的偏转效率 策略和最终确定临床可展开针和相关控制台的设计 来自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 更细的针设计，用于实施的增强控制台设计，以及闭环系统控制系统， 支持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，从而增加了针的弯曲自由度和灵活性 系统。这些研究将在一系列活体实验中达到高潮，目标是肝/肾活检和药物 交付程序。针对这些特定的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.