Ultrasound-Guided Robotic Needle Steering for Ablation of Liver Cancer
超声引导机器人针转向消融肝癌
基本信息
- 批准号:9279130
- 负责人:
- 金额:$ 36.06万
- 依托单位:
- 依托单位国家:美国
- 项目类别:
- 财政年份:2014
- 资助国家:美国
- 起止时间:2014-09-26 至 2019-05-31
- 项目状态:已结题
- 来源:
- 关键词:AblationAddressAdoptionAnatomyAnimal ModelAreaClinicalComorbidityDevicesDiagnosisDiagnosticDiseaseEffectivenessElectrodesEnvironmentExcisionFailureFamily suidaeFeedbackGeometryGoalsHandHealthHemorrhageHistologicImageryImprove AccessInterventionInterventional radiologyIntuitionLeadLearningLiverLiver diseasesLiver neoplasmsLobeLocationLungMalignant neoplasm of liverManualsMeasuresMedical ImagingMetastatic Neoplasm to the LiverMethodsModelingMovementNeedlesNeoplasm MetastasisOperative Surgical ProceduresOrganPatient-Focused OutcomesPatientsPositioning AttributePrimary Malignant Neoplasm of LiverPrimary carcinoma of the liver cellsProceduresPuncture procedureQuality of lifeRadiofrequency Interstitial AblationRiskRobotRoboticsShapesSolidSpecific qualifier valueStructureSurfaceSystemTechnologyTestingTimeTissuesTreatment FailureUltrasonographyUnited StatesVisionVisualWorkbasecancer diagnosiscapsuleclinical practicedesignexperimental studyflexibilityhuman-in-the-loopimage guidedimaging modalityimprovedin vivoinstrumentkillingsliver functionminimally invasivenovelpreventpublic health relevanceradiologistreconstructionrobot assistancerobot controlrobotic devicesoft tissuetechnology developmenttumortumor ablation
项目摘要
DESCRIPTION (provided by applicant): An estimated 33,190 new cases of primary liver cancer and an even larger number of new cases of metastatic cancer to the liver will be diagnosed in the United States in 2014. Eradicating those tumors improves patient survival. Percutaneous radiofrequency ablation (RFA), which kills tumors via thermal damage, is a minimally invasive treatment appropriate for the many patients who are not eligible for surgical resection, particularly those with certain tumor type, location, or size; poor liver function; or oher comorbidities. However, technical limitations have precluded broader adoption of RFA as a means of eliminating liver tumors. Tumors in some portions of the liver cannot be accessed because the straight paths currently taken by RFA electrodes would traverse vasculature, lung, or other sensitive structures. Large tumors require multiple electrode insertions; the increased bleeding risk with each puncture through the liver capsule can be too great in patients with advanced liver disease or severe comorbidities. The long-term goal of this work is to significantly improve access, accuracy, and precision during percutaneous liver RFA procedures using robot-assisted needle steering. The following specific aims will enable the development of this technology and demonstrate feasibility, as a path to clinical adoption: Specific Aim 1: Optimize ultrasound-based localization of highly curved needles and closed-loop control of robotic needle steering. Specific Aim 2: Develop an interactive user control interface and enable teleoperated needle steering intervention. Specific Aim 3: Design a clinical robot-assisted needle steering system for percutaneous liver RFA, validated in an ex vivo liver model. Specific Aim 4: Validate the ultrasound-guided needle steering system in vivo in porcine liver. Needle steering enables the insertion of highly flexible needles or guidewires along controlled, curved, 3D paths through tissue. Thus, the needle can be actively steered to acquire tumors not accessible by a straight- line path, and unexpected deviations from the desired path can be corrected as the needle advances toward the tumor. A functional needle steering system appropriate for in vivo experimentation must be compatible with widely available medical imaging (here, ultrasound imaging), have the ability to deliver treatment (here, RFA through the use of a steerable needle electrode), and an appropriate user interface including visualization and human-in-the-loop teleoperation. This technology could extend the survival advantages of RFA to patients who may otherwise not have good treatment options, and in the long term, be used for accurate placement of diagnostic devices and treatment of diseases in other organs.
描述(由申请人提供):预计 2014 年美国将诊断出 33,190 个原发性肝癌新病例,甚至更多的新发肝癌转移病例。根除这些肿瘤可以提高患者的生存率。经皮射频消融(RFA)通过热损伤杀死肿瘤,是一种微创治疗方法,适合许多不适合手术切除的患者,特别是那些肿瘤类型、位置或大小特定的患者;肝功能差;或其他合并症。然而,技术限制阻碍了射频消融作为消除肝脏肿瘤的一种手段的广泛采用。由于 RFA 电极目前采用的直线路径会穿过脉管系统、肺或其他敏感结构,因此无法触及肝脏某些部分的肿瘤。大肿瘤需要多次电极插入;对于患有晚期肝病或严重合并症的患者来说,每次肝包膜穿刺都会增加出血风险。这项工作的长期目标是使用机器人辅助针转向显着提高经皮肝脏 RFA 手术的介入性、准确性和精密度。以下具体目标将促进该技术的发展并证明其可行性,作为临床采用的途径: 具体目标 1:优化基于超声的高度弯曲针的定位和机器人针转向的闭环控制。 具体目标 2:开发交互式用户控制界面并实现遥控针转向干预。 具体目标 3:设计用于经皮肝脏 RFA 的临床机器人辅助针转向系统,并在离体肝脏模型中进行验证。 具体目标 4:在猪肝脏体内验证超声引导针转向系统。针转向可以将高度灵活的针或导丝沿着受控的、弯曲的 3D 路径插入组织。因此,可以主动操纵针来采集无法通过直线路径到达的肿瘤,并且当针向肿瘤前进时,可以纠正与期望路径的意外偏差。适用于体内实验的功能性针转向系统必须与广泛使用的医学成像(此处为超声成像)兼容,具有提供治疗的能力(此处为通过使用可转向针电极进行 RFA),以及适当的用户界面,包括可视化和人机回路远程操作。该技术可以将 RFA 的生存优势扩展到那些可能没有良好治疗选择的患者,并且从长远来看,可用于准确放置诊断设备和治疗其他器官的疾病。
项目成果
期刊论文数量(10)
专著数量(0)
科研奖励数量(0)
会议论文数量(0)
专利数量(0)
Methods for Improving the Curvature of Steerable Needles in Biological Tissue.
- DOI:10.1109/tbme.2015.2484262
- 发表时间:2016-06
- 期刊:
- 影响因子:0
- 作者:Adebar TK;Greer JD;Laeseke PF;Hwang GL;Okamura AM
- 通讯作者:Okamura AM
Remote Electromagnetic Vibration of Steerable Needles for Imaging in Power Doppler Ultrasound.
- DOI:10.1109/icra.2015.7139496
- 发表时间:2015-05
- 期刊:
- 影响因子:0
- 作者:Cabreros SS;Jimenez NM;Greer JD;Adebar TK;Okamura AM
- 通讯作者:Okamura AM
Toward the Design of Personalized Continuum Surgical Robots.
- DOI:10.1007/s10439-018-2062-2
- 发表时间:2018-10
- 期刊:
- 影响因子:3.8
- 作者:Morimoto TK;Greer JD;Hawkes EW;Hsieh MH;Okamura AM
- 通讯作者:Okamura AM
Design of 3-D Printed Concentric Tube Robots.
- DOI:10.1109/tro.2016.2602368
- 发表时间:2016-12
- 期刊:
- 影响因子:0
- 作者:Morimoto TK;Okamura AM
- 通讯作者:Okamura AM
3-D ultrasound-guided robotic needle steering in biological tissue.
- DOI:10.1109/tbme.2014.2334309
- 发表时间:2014-12
- 期刊:
- 影响因子:0
- 作者:Adebar TK;Fletcher AE;Okamura AM
- 通讯作者:Okamura AM
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Allison Mariko Okamura其他文献
Allison Mariko Okamura的其他文献
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{{ truncateString('Allison Mariko Okamura', 18)}}的其他基金
Ultrasound-Guided Robotic Needle Steering for Ablation of Liver Cancer
超声引导机器人针转向消融肝癌
- 批准号:
8818043 - 财政年份:2014
- 资助金额:
$ 36.06万 - 项目类别:
Haptic Feedback for Robot-Assisted Surgical Systems
机器人辅助手术系统的触觉反馈
- 批准号:
6717590 - 财政年份:2003
- 资助金额:
$ 36.06万 - 项目类别:
Haptic Feedback for Robot-Assisted Surgical Systems
机器人辅助手术系统的触觉反馈
- 批准号:
7105020 - 财政年份:2003
- 资助金额:
$ 36.06万 - 项目类别:
Haptic Feedback for Robot-Assisted Surgical Systems
机器人辅助手术系统的触觉反馈
- 批准号:
6805591 - 财政年份:2003
- 资助金额:
$ 36.06万 - 项目类别:
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