Systems and Devices for Minimally Invasive Image Guided Surgery

用于微创图像引导手术的系统和设备

• 批准号: RGPIN-2020-07035
• 负责人: Tavallaei, Mohammad
• 金额: $ 2.4万
• 依托单位: Ryerson University
• 依托单位国家: 加拿大
• 项目类别: Discovery Grants Program - Individual
• 财政年份: 2021
• 资助国家: 加拿大
• 起止时间: 2021-01-01 至 2022-12-31
• 项目状态: 已结题
• 来源: https://www.nserc-crsng.gc.ca/ase-oro/Details-Detailles_eng.asp?id=741563
• 关键词: Systems; Devices; Minimally; Invasive; Image

Background:Minimally invasive catheter-based cardiovascular interventions have been rapidly adopted and more than 10 million procedures are performed each year worldwide. However, conventional methods suffer from significant limitations in catheter positioning, tracking, and navigation. These limitations are primarily due to the device's long length, flexibility, engagement with the anatomy, and their remote manipulation from outside the body. A further challenge is that these procedures are typically guided with 2D projection x-ray images that lack 3D visualization and anatomical context. To address these challenges we propose the use of a new concept: expandable cable-driven parallel manipulators (X-CADPAM). Unlike conventional robots with rigid links, cable-driven parallel manipulators utilize cables for actuation and positioning and therefore offer specific advantages: larger workspaces, high payload-weight ratio, and low manufacturing and assembly costs. However, they require a large frame to anchor the cables which limit their applications. By using an expandable frame that can be contracted (e.g., within a catheter) to permit travel through a narrow passageway, and then opened once the desired target area is reached, we can take advantage of the specific benefits of CADPAMs while overcoming their limitation in access due to their large size. Objectives: This research program aims to fundamentally investigate X-CADPAMs and develop: 1) methods for their miniaturization at sizes suitable for cardiovascular interventions; 2) model their kinematics and design and develop systems and methods for their model identification and position control; and 3) applying the X-CADPAM concept to design and develop novel imaging instruments overcoming the limitations of conventional imaging devices and enabling a complete image-based navigation platform. Approach: We will develop designs that enable miniaturization of the X-CADPAM, first to 12Fr (4mm) and then to 6-9Fr. We will design and develop the cable tensioning mechanisms and sensing mechanisms and integrate all components within a catheter. Then the system's kinematics will be modeled, and adaptive tracking methods will be developed to permit system parameter identification and robust position tracking and control. The X-CADPAM concept will also be used to position ultrasound transducers at various locations while making measurements, therefore, enabling a large field of view image reconstruction. This will enable the creation of forward-looking catheters and full image-guided augmented virtuality navigation framework. Significance of the work: This research will enhance our knowledge on the design, modeling, development, and control of miniaturized X-CADPAMS and will enable their application in scenarios where the target is difficult to reach. The proposed research will help overcome the limitations of conventional catheter-based interventions with regards to steering, tracking, and image guidance.

背景：以导管为基础的微创心血管介入治疗已迅速被采用，全球每年进行超过1000万例手术。然而，传统的方法在导管的定位、跟踪和导航方面存在明显的局限性。这些限制主要是由于该设备的长度长、灵活性、与解剖学的接触以及它们在体外的远程操作。另一个挑战是，这些手术通常由缺乏3D可视化和解剖学背景的2D投影X光图像来指导。为了应对这些挑战，我们提出了一种新的概念：可扩展缆索驱动并联机器人(X-CADPAM)。与传统的刚性连杆机器人不同，绳索驱动的并联机器人利用绳索进行驱动和定位，因此具有独特的优势：更大的工作空间，高有效载荷重量比，以及低制造和组装成本。然而，它们需要一个大框架来锚定电缆，这限制了它们的应用。通过使用可收缩(例如，在导管内)的可扩展框架，允许通过狭窄的通道，然后在到达所需的靶区后打开，我们可以利用CADPAM的具体好处，同时克服其由于其大尺寸而在访问方面的限制。目标：本研究计划旨在从根本上研究X-CADPAM，并开发：1)适合心血管介入治疗的小型化方法；2)建立其运动学模型，设计和开发用于模型识别和位置控制的系统和方法；以及3)应用X-CADPAM概念设计和开发新型成像设备，克服传统成像设备的限制，实现完整的基于图像的导航平台。方法：我们将开发能够实现X-CADPAM小型化的设计，首先是12Fr(4 Mm)，然后是6-9Fr。我们将设计和开发电缆张紧机构和传感机构，并将所有组件集成到导管中。然后对系统的运动学进行建模，并开发自适应跟踪方法，以实现系统参数辨识和稳健的位置跟踪和控制。X-CADPAM的概念还将用于在测量时在不同位置定位超声换能器，从而实现大视场图像重建。这将使创建前瞻性导管和完全图像引导的增强虚拟导航框架成为可能。工作意义：这项研究将增强我们对小型化X-CADPAMS的设计、建模、开发和控制的知识，并将使其在难以达到目标的场景中得到应用。这项拟议的研究将有助于克服传统的基于导管的干预在转向、跟踪和图像引导方面的局限性。