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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.

项目概要/摘要图像引导成为现代医疗干预的关键要素。尤其是 MRI，已由于其优越的柔软性，被研究作为各种癌症活检和局部治疗的经皮工具指导组织对比度和多参数图像处理能力，可精确定位目标组织。前列腺癌症是美国的一个主要健康问题，也是可以从 MRI 中受益的先驱领域之一指导意见是，在当地或区域阶段检测到的存活率接近 100%。 MRI 的使用已提高癌症检出率并实现早期局部治疗。尽管结果令人鼓舞，但 MRI 由于技术的复杂性，引导式前列腺干预尚未在临床实践中广泛实施。此类干预措施。复杂性造成的主要阻力是程序时间过长。核磁共振引导前列腺活检需要2~3小时，而传统超声检查通常只需要0.5小时左右引导活检。程序延长的主要原因是干预孔内设置和重复图像配准。通过多年在 MRI 引导前列腺干预开发和临床方面的实践经验试验中，已经意识到包括移动患者台在内的 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。随着硬件的简化和增强 MRI 兼容性，整体手术时间可显着缩短，可与超声检查相媲美指导前列腺干预。最终目标是通过加强早期检测来提高癌症存活率并实现可治愈的局部治疗。该提案的总体目标是制定和评估一个契约免配准 4-DOF 机器人工具指南，用于 MRI 引导的前列腺介入治疗，执行时间少于在典型的诊断 MRI 设置中需要一个小时。我们实现这一目标的方法是实施一种新颖的机械手机构可以紧凑设备，为临床访问提供更多空间，并消除通过固定和运动跟踪设备来重复设备到图像的配准过程，这可以大大简化了程序。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前列腺癌数月内多次就诊的做法。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 套件之间拟议的干预措施。促进台式开发和现场实验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，为学生提供灵感以及更多获得生物医学研究经验的机会。