Real-Time MRI Guided Robotic Catheter System for Atrial Fibrillation Ablation

用于心房颤动消融的实时 MRI 引导机器人导管系统

• 批准号: 10025825
• 负责人: M. Cenk Cavusoglu
• 金额: $ 70.92万
• 依托单位: CASE WESTERN RESERVE UNIVERSITY
• 依托单位国家: 美国
• 财政年份: 2020
• 资助国家: 美国
• 起止时间: 2020-07-01 至 2024-06-30
• 项目状态: 已结题
• 来源: https://reporter.nih.gov/project-details/10025825
• 关键词: 3-Dimensional; Ablation; Algorithms; Anatomy; Animals; Area; Atrial Fibrillation; Augmented Reality; Awareness; Back; Blood flow; Cardiac; Cardiac ablation; Catheters; Cicatrix; Clinical; Cognitive; Data; Data Collection; Discrimination; Ensure; Goals; Heart Atrium; Image; Immersion; Intervention; Intuition; Lesion; Magnetic Resonance Imaging; Medical Imaging; Methods; Modality; Motion; Physicians; Positioning Attribute; Prevalence; Principal Investigator; Procedures; Process; Recurrence; Research; Research Personnel; Robotics; Sampling; Scheme; Speed; System; Systems Integration; Technology; Three-Dimensional Imaging; Time; Tissues; Uncertainty; United States; User-Computer Interface; Validation; Visualization; Work; anatomic imaging; design; experimental study; flexibility; heart motion; human subject; image guided; image reconstruction; image visualization; improved; in vivo; innovative technologies; magnetic field; novel; novel strategies; overtreatment; pre-clinical; prototype; reconstruction; robot control; robotic system; temporal measurement; three-dimensional visualization; time use

Abstract The purpose of the present study is to design an MRI-guided robotic catheter system to significantly improve the efficacy of atrial fibrillation ablation interventions. Specifically, in this study, the investigators will develop an MRI-guided robotic intra-vascular catheter system by synergistically integrating novel real-time MRI, robotic catheter control, and advanced human-machine interface technologies. The developed robotic system will seek to eliminate recurrences resulting from inaccurate and insufficient treatment, and complications resulting from over-treatment by enabling the physician to effectively see, navigate, and control the catheter in relation to the anatomy. The system will improve the physician's ability to visualize the cardiac anatomy and allow the physician to evaluate the substrate depth and lesion created in real-time using intraoperative MRI. The precise and dexterous robotic catheter control will enable the physician to accurately and easily steer the catheter and maintain robust contact with the atrium to generate a transmural scar and ensure a continuous trajectory without gaps. The advanced human-machine interface will enable intuitive and dexterous catheter control and provide the physician with unparalleled situational awareness. The investigators will integrate the developed technologies into a complete MRI-guided robotic catheter system prototype, and validate them in benchtop experiments as well as in vivo in a large animal study.

抽象的 本研究的目的是设计MRI引导的机器人导管系统以显着改善 房颤消融干预措施的功效。具体而言，在这项研究中，研究人员将发展 MRI引导的机器人血管内导管系统通过协同整合新型实时MRI，机器人 导管控制和先进的人机接口技术。发达的机器人系统将 寻求消除因不准确和治疗不足而导致的复发，以及导致的并发症 从过度治疗，使医生能够有效地看到，导航和控制导管 进行解剖。该系统将提高医生可视化心脏解剖结构的能力，并允许 医师使用术中MRI实时产生的底物深度和病变。确切的 灵巧的机器人导管控制将使医生能够准确，轻松地转向导管， 与中庭保持牢固的接触以产生透壁疤痕并确保连续轨迹 没有空白。先进的人机接口将实现直觉和灵活的导管控制和 向医生提供无与伦比的情境意识。调查人员将整合发达的 进入完整的MRI引导机器人导管系统原型，并在台式机中验证它们 一项大型动物研究中的实验和体内。