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Compact registration-free robotic tool guide for image guided percutaneous interventions

用于图像引导经皮介入治疗的紧凑型免配准机器人工具指南

基本信息

批准号：
10046861
负责人：
SANGEUN SONG
金额：
$ 44.7万
依托单位：
UNIVERSITY OF CENTRAL FLORIDA
依托单位国家：
美国
项目类别：
财政年份：
2020
资助国家：
美国
起止时间：
2020-08-01 至 2023-07-31
项目状态：
已结题

来源：
https://reporter.nih.gov/project-details/10046861
关键词：
Algorithms Area Biomedical Research Biopsy Breathing Cancer Detection Clinical Clinical Trials Complex Computer software Development Devices Diagnosis Diagnostic Early Diagnosis Electronics Elements Engineering Environment Florida Goals Health Hospitals Hour Image Intervention Intuition Laboratories Magnetic Resonance Imaging Malignant Neoplasms Malignant neoplasm of prostate Manuals Measures Medical Modernization Monitor Needles Noise Outcome Patients Procedures Process Prostate Public Health Research Research Personnel Resistance Robot Robotics Savings Signal Transduction Students Survival Rate System Testing Time Tissues Ultrasonography Universities Visit cancer survival clinical practice design experience experimental study image guided image processing image registration innovation kinematics multidisciplinary novel prostate biopsy prototype robot control robotic system soft tissue success therapy development tool undergraduate student

项目摘要

PROJECT SUMMARY/ABSTRACT Image guidance became a key element of modern medical interventions. MRI, in particular, has been investigated as percutaneous tool guidance for various cancer biopsy and focal therapies due to its superior soft tissue contrast and multi-parametric image processing capabilities to precisely localize target tissues. Prostate cancer, a major health concern in the US, has been one of the pioneering areas that can benefit from MRI guidance as the survival rate, when detected at local or regional stages, is nearly 100%. The use of MRI has increased cancer detection rate and enabled early focal treatments. Despite promising results, however, MRI guided prostate intervention has not been widely implemented in clinical practice due to technical complexity of such interventions. The major resistance caused by the complexity is lengthy procedure time. MRI guided prostate biopsy takes 2~3 hours whereas only around 0.5 hour is usually required for conventional ultrasound guided biopsy. The prolonged procedure is mainly due to intervention in-bore setup and repeat image registration. Through many years of hands-on experience on MRI guided prostate intervention developments and clinical trials, it has been realized that an MRI space including moving patient table is already fully digitized, hence, complex device-to-image registration processes can be eliminated. Along with simplification of hardware and increased MRI compatibility, overall procedure time can be significantly reduced to be comparable to ultrasound guided prostate interventions. The ultimate goal is to increase cancer survival rate by enhancing early detection and enabling curable focal therapy. The overall objective of this proposal is to develop and evaluate a compact registration-free 4-DOF robotic tool guide for MRI guided prostate intervention that can be performed less than an hour in a typical diagnostic MRI setup. Our approach to achieve the objective is to implement a novel manipulator mechanism that can compact the device providing more space for clinical access, and eliminate repeat device-to-image registration processes by affixing and kinematically tracking the device, which can dramatically simplify the procedure. The rationalized intervention and procedure could enable a one-stop definitive diagnosis that could replace the current prostate cancer practice of multiple hospital visits over months. In this R15 project, a team of multidisciplinary investigators and bio inspired engineering undergraduate students will design, develop, and test the proposed intervention between a robotics laboratory and MRI suite. Facilitating hands-on experience on benchtop developments and onsite experiments will strengthen biomedical research environment of the largest undergraduate centered university in the US and provide students with inspirations and more opportunities to gain biomedical research experience.

项目总结/摘要图像引导成为现代医疗干预的关键要素。特别是MRI，由于其优越的上级柔软性，组织对比度和多参数图像处理能力，以精确定位目标组织。前列癌症是美国的一个主要健康问题，它是可以从MRI中受益的先驱领域之一指导，因为当在局部或区域阶段检测时，存活率接近100%。MRI的使用提高了癌症检出率，并使早期重点治疗成为可能。尽管结果令人鼓舞，但是，引导的前列腺介入由于技术复杂性而没有在临床实践中广泛实施，这样的干预。由复杂性引起的主要阻力是冗长的程序时间。MRI引导前列腺活检需要2~3小时，而常规超声通常只需约0.5小时引导活检手术时间延长主要是由于干预性孔内设置和重复图像配准。通过多年的MRI引导前列腺介入发展和临床实践经验，试验中，已经认识到包括移动患者台的MRI空间已经完全数字化，因此，可以消除复杂的设备到图像的配准过程。沿着硬件和增加MRI兼容性，总体手术时间可显著缩短至与超声相当前列腺介入治疗最终目标是通过加强早期发现来提高癌症存活率并且能够进行可治愈的局部治疗。本提案的总体目标是制定和评估一项契约，用于MRI引导前列腺介入的免配准4-DOF机器人工具导向器，一个小时的核磁共振诊断我们实现这一目标的方法是实施一项新的操纵器机构，其可以使装置紧凑，为临床进入提供更多空间，并且消除了通过固定和运动学跟踪器械，重复器械与图像配准过程，大大简化了程序。合理化的干预和程序可以实现一站式明确的诊断，可以取代目前的前列腺癌的做法，多个医院访问了几个月。在这个R15项目中，一个由多学科研究人员和生物工程本科生组成的团队将设计，开发和测试机器人实验室和MRI套件之间的拟议干预。促进在台式开发和现场实验方面的实践经验将加强生物医学研究美国最大的以本科为中心的大学的环境，并为学生提供灵感以及更多获得生物医学研究经验的机会。