STTR Phase I: A robotic system for performing biopsies and therapeutic interventions while the patient is inside an MRI scanner

这个小型企业技术转移（STTR）第一阶段项目的更广泛影响/商业潜力是，它将通过改善患者的治疗结果和程序效率，使医疗保健受益。虽然磁共振成像（MRI）越来越多地用于指导干预，但这受到了扫描仪内患者接触受限的挑战。目前的做法——要么将患者取出并手动插入工具，要么将患者转移到另一种模式——延长了手术时间，降低了准确性，并增加了可能的创伤。提出的新型机器人和MRI技术将解决这些限制，使患者能够在MRI扫描仪内进行手术。因此，连续的MRI图像可用于诊断和治疗干预，提供更准确的病灶定位，更短的手术时间，减少患者创伤，更快的恢复，更低的成本，并改善患者的预后。这将通过改善对患者、其家庭和社会产生重大影响的诊断和治疗干预措施，改变介入医学。随着患者恢复速度的加快，该技术将降低医疗保健的总体成本，并使患者能够更快地重返工作岗位。新型机器人技术将在医疗行业的研发和生产中创造新的岗位，并通过雇用高技能人才带来经济效益。拟议中的项目将开发机器人和成像交叉领域的新技术。固体介质传输（SMT）机制提供了流体管线的灵活性，但在一个无泄漏、不那么复杂的系统中，具有更紧凑的动力输出安排。SMT机制使mri兼容机械臂的开发具有适应性和可扩展性，可用于广泛的医疗干预，携带和操纵几乎任何工具。提出的研究将阐明几何参数和材料参数对SMT机构运行的影响。一个smt驱动的机械臂原型将用于现场演示该技术在实时mri引导程序中的功能，并通过现场和临床场所的实际演示将其传播。除了在医疗应用中的优点之外，本研究还通过展示机械手内远程驱动或局部分布驱动的替代机制，增强了科学和技术的理解，这创造了在自动化，石油/天然气工业和航空航天中应用的新型机电一体化组件的潜力。

The broader impact/commercial potential of this Small Business Technology Transfer (STTR) Phase I project is that it will benefit healthcare by improving patient outcome and procedural efficiency. While Magnetic Resonance Imaging (MRI) is increasingly used to guide interventions, this is challenged by the limited access to the patient inside the scanners. Current practices - either removing the patient and manually inserting the tools or moving the patient to another modality - lengthen the procedures, reduce accuracy, and increase possible trauma. The proposed novel robotic and MRI technologies will address those limitations, enabling performing procedures with the patient inside the MRI scanner. Thus continuous MRI images can be used for diagnostic and therapeutic interventions offering more accurate lesion targeting, shorter procedure times, reduced patient trauma, faster recovery, lower cost, and improved patient outcome. This would transform interventional medicine by improving diagnostic and therapeutic interventions with high impact to patients, their families, and society. With faster patient recovery, this technology will reduce the overall cost of healthcare and enable faster return of patients to the workforce. The novel robotic technologies will generate new positions in R&D and production in medical industries, as well as economic benefits from employing highly skilled personnel.The proposed project will develop novel technologies at the intersection of robotics and imaging. The solid-media transmission (SMT) mechanism offers the flexibility of fluidic lines but in a system that is leak-free and less complex and has a more compact power take-off arrangement. The SMT mechanism enables the development of an MRI-compatible manipulator that is adaptable and scalable for use in a wide range of medical interventions, carrying and maneuvering virtually any tool. The proposed research will elucidate the effect of geometric and material parameters on the operation of the SMT mechanism. A prototype SMT-actuated manipulator will be used to demonstrate the functionality of this technology in real-time MRI-guided procedures in-situ and disseminate it with on-site and hands-on demonstrations to clinical venues. Beyond the merit in medical applications, this research enhances scientific and technological understanding by demonstrating an alternative mechanism of remote actuation or local distribution of actuation within a manipulator, which creates the potential to generate novel mechatronic assemblies with applications in automation, oil/gas industries, and aerospace.