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Smart Needle with Intelligent Robotic Control for Prostate Brachytherapy

用于前列腺近距离治疗的智能机器人控制智能针

基本信息

批准号：
10627946
负责人：
Bardia Konh
金额：
$ 17.87万
依托单位：
UNIVERSITY OF HAWAII AT MANOA
依托单位国家：
美国
项目类别：
财政年份：
2021
资助国家：
美国
起止时间：
2021-09-01 至 2025-05-31
项目状态：
未结题

来源：
https://reporter.nih.gov/project-details/10627946
关键词：
3-Dimensional 3D Print Adoption Algorithms Biopsy Bladder Brachytherapy Cadaver Calibration Cancer Intervention Cancerous Cells Characteristics Clinical Collaborations Compensation Computer Models Development Devices Diagnosis Dislocations Dose Drug Delivery Systems Dysuria Edema Effectiveness Electromagnetics Endowment Exclusion Feedback Goals Healthcare Human Imaging Device Implant Incontinence Intelligence Intuition Location Malignant Neoplasms Malignant neoplasm of prostate Manuals Mechanics Methods Modality Modeling Modernization Motion Movement Needles Operative Surgical Procedures Organ Outcome PUVA Photochemotherapy Pain Patients Performance Physicians Positioning Attribute Procedures Property Prostate Radiation Radioactive Radioactive Seed Implantation Raman Spectrum Analysis Rectum Reporting Research Resected Robot Robotics Seed Implantation Shapes Source Structure Surgeon System Techniques Therapeutic Intervention Therapeutic procedure Thermal Ablation Therapy Tissue Model Tissues Toxic effect Translating Treatment Failure Ulcer Uncertainty Update Urethra Urination Viral Work cost design dosage dynamic system experience eye hand coordination fabrication flexibility gene therapy human error improved in vivo innovation instrument instrumentation kinematics manufacture minimally invasive novel predictive modeling rectal response robot control robotic system sensor side effect skills success teleoperation trend ultrasound urinary

项目摘要

PROJECT SUMMARY/ABSTRACT Brachytherapy procedure is one of the most popular treatment modalities for prostate cancer where cancerous cells are irradiated and destroyed locally by the radioactive dosage of seeds implanted by the surgeon. The success of brachytherapy heavily relies on safe and precise placement of the seeds in or adjacent to the cancerous cells. The procedure demands a very experienced surgeon who have developed an intuitive feel in needle insertions and is able to guide the needle into a desired location with hand-eye coordination and assistance of an imaging device. However, with conventional rigid needles, only a straight path is achievable towards the target, and thereby seed placements require several insertions with a high tissue damage on the needle’s path. A recent study has shown that guiding the needle in a curvilinear approach will decrease the number of needle insertions required and provide other dosimetric benefits. Lack of actuation and control (after the needle is inserted into the patient’s body) is another factor that make the procedure challenging. A flexible 3D steerable “smart” needle with multi-directional actuation and a reliable guidance control and guidance can aid the surgeon to perform the task with more accuracy, reduced invasiveness, and in a curvilinear approach. Furthermore, teleoperative guidance for the smart needle will endow the robotic instrument with intelligence. On the other hand, in-depth understanding of the needle-tissue interaction mechanism (with intraoperative model parameter updates and shape- and force-sensing) is a key factor in development of an appropriate control and guidance strategies to compensate for system uncertainties. This work will first develop an active “smart” brachytherapy needle that will provide robust actuation, shape- and force-sensing, and 3D motion in tissue. Then a teleoperative interface with robot-driven smart needle will be developed to perform semi- automated brachytherapy. Realistic analytical and computational models of needle-tissue interactions will be developed using realistic tissue characteristics. These models will be used in the control system as dynamic models to make appropriate decisions during an insertion task. The innovative features of our proposed methods rely on our cutting-edge smart needle design, new dynamic models, shape- and force-sensing, and control algorithm specifically developed for this application. The present studies will develop a clinically acceptable size “smart” surgical needle with a robotic control interface and evaluate its impact in brachytherapy procedure. Utilization of active and passive flexible needles for diagnosis and therapeutic procedures is a rapidly advancing filed. This proposed research has a high potential to lead to a revolutionary needle insertion practice in healthcare that is also beneficial to various needle-based procedures such as drug delivery, biopsy, and interventional therapy where an accurate placement is needed with minimal tissue damage.

项目总结/文摘

项目成果

期刊论文数量（7）

专著数量（0）

科研奖励数量（0）

会议论文数量（0）

专利数量（0）

A Model to Predict Deflection of an Active Tendon-Driven Notched Needle Inside Soft Tissue.

预测软组织内活动肌腱驱动缺口针偏转的模型。

DOI：
10.1115/1.4063205
发表时间：
2024
期刊：
Journal of engineering and science in medical diagnostics and therapy
影响因子：
0
作者：
Padasdao,Blayton;Konh,Bardia
通讯作者：
Konh,Bardia

Kinematics modelling and dynamics analysis of an SMA-actuated active flexible needle for feedback-controlled manipulation in phantom.

DOI：
10.1016/j.medengphy.2022.103846
发表时间：
2022-09
期刊：
MEDICAL ENGINEERING & PHYSICS
影响因子：
2.2
作者：
Karimi, Saeed;Konh, Bardia
通讯作者：
Konh, Bardia

Steering a Tendon-Driven Needle in High-Dose-Rate Prostate Brachytherapy for Patients with Pubic Arch Interference.

DOI：
10.1109/ismr48346.2021.9661565
发表时间：
2021-11
期刊：
... International Symposium on Medical Robotics. International Symposium on Medical Robotics
影响因子：
0
作者：
Konh, Bardia;Padasdao, Blayton;Batsaikhan, Zolboo;Lederer, John
通讯作者：
Lederer, John

Teleoperated and Automated Control of a Robotic Tool for Targeted Prostate Biopsy.

用于靶向前列腺活检的机器人工具的远程操作和自动控制。

DOI：
10.1142/s2424905x23400020
发表时间：
2023
期刊：
Journal of medical robotics research
影响因子：
0
作者：
Padasdao,Blayton;Lafreniere,Samuel;Rabiei,Mahsa;Batsaikhan,Zolboo;Konh,Bardia
通讯作者：
Konh,Bardia

HDR Brachytherapy Planning using Active Needles - Preliminary Investigation on Dose Planning.

使用主动针进行 HDR 近距离放射治疗规划 - 剂量规划的初步调查。