Acquisition of Colaborative Robot System for Ultrasound Research

采购用于超声研究的协作机器人系统

• 批准号: 10798904
• 负责人: Luis Cardoso
• 金额: $ 6.57万
• 依托单位: CITY COLLEGE OF NEW YORK
• 依托单位国家: 美国
• 财政年份: 2022
• 资助国家: 美国
• 起止时间: 2022-09-05 至 2026-07-31
• 项目状态: 未结题
• 来源: https://reporter.nih.gov/project-details/10798904
• 关键词: 3-Dimensional; 3D ultrasound; Address; Agreement; American; Apolipoprotein E; Arterial Fatty Streak; Biological; Blood Vessels; Breast Microcalcification; Cessation of life; Coronary Vessels; Detection; Development; Environment; Frequencies; Funding; Future; Human; Hypertension; Image; Image Enhancement; Inflammation; Intrinsic factor; Logic; Mechanical Stress; Mechanics; Morphologic artifacts; Morphology; Motion; Mus; Myocardial Infarction; Necrosis; Noise; Patients; Play; Positioning Attribute; Research; Research Personnel; Research Project Grants; Resolution; Risk; Risk Reduction; Robot; Robotics; Role; Rotation; Rupture; Sampling; Scanning; Signal Transduction; Site; Stress; Sudden Death; System; Testing; Thick; Three-Dimensional Imaging; Thrombus; Tissue Sample; Tissues; Translating; Ultrasonography; United States National Institutes of Health; Vascular calcification; acute coronary syndrome; arm; calcification; contrast enhanced; coronary artery calcification; high resolution imaging; human imaging; human subject; human tissue; imaging approach; imaging system; improved; in vivo; in vivo imaging; meter; robotic system; sensor; tissue stress; tomography; transmission process; ultrasound

SUMMARY Human fibroatheroma (FA) cap rupture leads to the formation of an occluding thrombus, myocardial infarction (MI) and sudden death in more than half a million Americans every year. A major determinant of plaque rupture risk is the atheroma cap thickness. However, there are several other factors that play an important role in the FA cap rupture, including atheroma morphology, biological environment, tissue composition and mechanical environment. Indeed, the underlying mechanisms for atheroma cap rupture are still insufficiently understood. Vascular calcification has emerged in recent years among the factors that play an important role in the stability of plaque rupture. We have demonstrated to date the existence of thousands of microcalcifications (µCalcs) primarily in non-ruptured human atheroma caps using µCT imaging, and that they behave as an intensifier of the background circumferential stress in the cap. In our currently funded NIH project 1R16GM145474-01 “Microcalcifications in Atherosclerotic Plaque”, the working hypothesis is that μCalcs in the FA cap has a major effect on the FA cap rupture threshold. Unfortunately, µCT imaging cannot be used for in vivo assessment of µCalcs in human subjects. Vascular and intravascular ultrasound, on the other hand, are non-ionizing approaches routinely used for the imaging of atheroma. Despite significant progress on intra/vascular imaging of atheroma using ultrasound, the presence of large calcifications in the atheroma produce shadowing artifacts, lowering the image quality and the detection of atheroma morphology, atheroma cap thickness and the presence of µCalcs. Also important, high-frequency ultrasound imaging allow us to acquire high resolution images, but they are highly sensitive to micromotion of the ultrasound probe, in particular for the imaging of speckles produced by small calcifications. To address these shortcomings, we propose developing a 3D ultrasound tomography imaging approach for enhanced imaging of human atheroma with calcifications. The ultrasound tomography approach is based on an automated scanning robotic system comprising two collaborative robotic arms, one full-field 3D snapshot sensor and one Programmable Logic Controller (PLC). The robotic system will allow us significantly reducing motion artifacts, blurring, and shadowing due to calcifications in atheroma. This image quality improvement will be achieved by implementing multi-angle compound ultrasound tomography, where the positioning of the emitter and receiver imaging array probes will be controlled by the scanning robotic system. If the proposed automated scanning approach is successful in providing improved images of atheroma with calcifications, we envision this approach could be translated to in vivo imaging of atherosclerotic plaques, and detection of µCalcs in carotid vessels.

总结 人纤维粥样硬化（FA）帽破裂导致闭塞性血栓形成，心肌梗死 (MI)每年有超过50万美国人死于猝死。斑块破裂的一个主要决定因素 风险是动脉粥样硬化帽厚度。然而，还有其他几个因素在足总中扮演着重要的角色 帽破裂，包括动脉粥样硬化形态，生物环境，组织成分和机械 环境事实上，动脉粥样硬化帽破裂的潜在机制仍然没有得到充分的理解。 近年来，血管钙化已成为在血管性心脏病中起重要作用的因素之一。 斑块破裂的稳定性。迄今为止，我们已经证明了成千上万的微钙化的存在， （µCalcs）主要存在于使用µCT成像的未破裂的人类动脉粥样硬化帽中，并且它们表现为 帽中的背景周向应力的增强器。在我们目前资助的NIH项目中， 1 R16 GM 145474 -01“动脉粥样硬化斑块中的微钙化”，工作假设是 FA帽对FA帽破裂阈值有主要影响。不幸的是，µCT成像不能用于 人体受试者中µCalcs的体内评估。血管和血管内超声，另一方面， 常规用于动脉粥样硬化成像的非电离方法。 尽管使用超声对动脉粥样硬化的血管内/血管成像取得了重大进展，但大的动脉粥样硬化的存在仍然是一个挑战。 动脉粥样硬化中的钙化产生阴影伪影，降低了图像质量， 动脉粥样硬化形态、动脉粥样硬化帽厚度和是否存在µCalcs。同样重要的是， 超声成像使我们能够获得高分辨率的图像，但它们对微运动非常敏感。 超声探头，特别是用于由小钙化产生的散斑的成像。解决这些 缺点，我们建议开发一种3D超声断层扫描成像方法，用于增强成像， 人动脉粥样硬化伴钙化。超声断层扫描方法基于自动扫描 机器人系统，包括两个协作机器人臂、一个全场3D快照传感器和一个 可编程逻辑控制器（PLC）。机器人系统将使我们能够显著减少运动伪影， 模糊和由于粥样硬化中的钙化而产生的阴影。这种图像质量的改善将通过以下方式实现： 实现多角度复合超声断层成像，其中发射器和接收器的定位 成像阵列探针将由扫描机器人系统控制。如果提议的自动扫描 方法是成功的，在提供改善图像的动脉粥样硬化钙化，我们设想这种方法 可以转化为动脉粥样硬化斑块的体内成像和颈动脉血管中µCalcs的检测。