Steering Flexible Needles in Soft Tissue

在软组织中引导柔性针

基本信息

批准号：
7857940
负责人：
Noah John Cowan
金额：
$ 61.32万
依托单位：
JOHNS HOPKINS UNIVERSITY
依托单位国家：
美国
项目类别：
财政年份：
2007
资助国家：
美国
起止时间：
2007-08-15 至 2012-05-31
项目状态：
已结题

来源：
https://reporter.nih.gov/project-details/7857940
关键词：
Ablation Algorithms Animals Biomechanics Biomedical Engineering Biopsy Brain Cadaver Cell Therapy Clinical Collection Computer Systems Computer software Custom Development Devices Effectiveness Engineering Feedback Fluoroscopy Goals Grant Human body Image Imagery Infection Intervention Lateral Life Liver Magnetic Resonance Imaging Methods Minimally Invasive Surgical Procedures Modeling Motion Needles Operative Surgical Procedures Outcome Patient Care Patients Physicians Procedures Prostate Public Health Radiation therapy Recovery Research Research Personnel Research Project Grants Risk Robotics Series Specific qualifier value Surgeon System Techniques Testing Therapeutic Time Tissue Model Tissues To specify Training Trauma Treatment Cost Ultrasonography Work animal tissue base chemotherapy clinical application design flexibility improved in vivo Model minimally invasive model design models and simulation novel strategies preclinical study programs prototype research study simulation soft tissue tissue phantom tool tumor

项目摘要

DESCRIPTION (provided by applicant): Minimally invasive surgical techniques have been highly successful in improving patient care, reducing risk of infection, and decreasing recovery times. This project aims to further reduce invasiveness by developing a technique to insert thin, flexible needles into the human body and steer them from outside. This approach will potentially improve a wide range of procedures, from chemotherapy and radiotherapy to biopsy collection and tumor ablation, by enhancing physicians' abilities to accurately maneuver inside the human body without additional trauma to the patient. Building on emerging methods in robotics and highly encouraging results obtained under an R21 exploratory grant, we propose to design, prototype, and evaluate a working system that will steer flexible needles through deformable tissue and around internal obstacles to precisely reach specified 3D targets. This research program will significantly advance our understanding and practice of needle therapies through integrated needle design and modeling, preoperative visualization and needle motion planning, and image-guided intraoperative needle control. The scientific and engineering advances will culminate in a set of pre-clinical trials with imaging (fluoroscopy, ultrasound, and MRI) using phantom and natural ex vivo and in vivo models. The designs, analyses, and experiments of this study will determine the merits and weaknesses of flexible needle steering, with the goals of improving current clinical applications and leading to new ultra-minimally invasive surgical procedures. The results of this project could significantly improve public health by lowering patient recovery times, infection rates, and treatment costs. By increasing the dexterity and accuracy of minimally invasive procedures, anticipated results will not only improve outcomes of existing procedures, but also enable percutaneous procedures for many conditions that currently require open surgery.

描述（由申请人提供）：微创手术技术在改善患者护理，减少感染风险和减少恢复时间方面非常成功。该项目旨在通过开发一种将薄而灵活的针头插入人体并将其从外部插入的技术来进一步降低侵入性。这种方法将通过增强医生在人体内部准确操纵人体而没有对患者的额外创伤的情况，从而有可能改善从化学疗法和放射疗法到活检收集和肿瘤消融的广泛程序。在机器人技术中的新兴方法和在R21探索授权下获得的极大令人鼓舞的结果的基础，我们建议设计，原型和评估一个工作系统，该系统将通过可变形的组织和内部障碍物绕开柔性针，以精确达到指定的3D目标。该研究计划将通过集成的针头设计和建模，术前可视化和针头运动计划以及图像引导的术中针对术中的针头控制，从而大大提高我们对针疗法的理解和实践。科学和工程的进步将在一系列临床前试验中使用幻影和天然前体体和体内模型进行成像（荧光镜，超声和MRI）的成像（荧光镜，超声和MRI）。这项研究的设计，分析和实验将确定柔性针头转向的优点和弱点，其目标是改善当前的临床应用并导致新的超级侵入性手术程序。该项目的结果可以通过降低患者康复时间，感染率和治疗成本来大大改善公共卫生。通过提高最低侵入性程序的敏捷性和准确性，预期的结果不仅可以改善现有程序的结果，而且还可以在许多需要开放手术的情况下实现经皮程序。

项目成果

期刊论文数量（25）

专著数量（0）

科研奖励数量（0）

会议论文数量（0）

专利数量（0）

Surgical and Interventional Robotics: Part II: Surgical CAD-CAM Systems.

手术和介入机器人：第二部分：手术 CAD-CAM 系统。

DOI：
10.1109/mra.2008.927971
发表时间：
2008
期刊：
IEEE robotics & automation magazine
影响因子：
5.7
作者：
Fichtinger,Gabor;Kazanzides,Peter;Okamura,AllisonM;Hager,GregoryD;Whitcomb,LouisL;Taylor,RussellH
通讯作者：
Taylor,RussellH

A New Scheme for Curved Needle Segmentation in Three-Dimensional Ultrasound Images.