Robotic-Guided Ultrasound System for Peripheral Arterial Disease (RoGUS-PAD)

随着血管疾病的不断增加，德国周围血管内介入治疗的数量也在稳步上升。外周血管内介入治疗的一个尚未解决的问题是必须使用x射线和肾损伤x射线造影剂。此外，二维血管造影对血流动力学参数的实时表征是不够的。RoGUS-PAD项目的主要目标是在不使用x射线和x射线造影剂的情况下进行外周血管内干预，并改善血流动力学参数的可视化。这将通过一种新型的干预系统来实现，该系统将超声可视化技术与换能器的机器人辅助引导相结合。具体而言，需要解决以下医学工程问题：•所有相关系统的自动校准（超声、机器人、用于验证的x射线）•全自动、机器人辅助的介入导航，并在2D/3D超声中显示周围血管系统（“超声血管造影”）•获取整个腿部动脉的多普勒血流图像•验证术中成像的不同方法(IVUS，OCT)RoGUS-PAD为外科医生提供了外周血管内介入治疗的新可能性。通过使用机器人支持的超声波，可以减少x射线和造影剂暴露，从而导航和进行外周血管内干预。此外，双工超声实时显示血流动力学参数将有助于改善介入内成功控制。

Following the continuous increase in vascular diseases, the number of peripheral en-dovascular interventions in Germany is also steadily rising. A hitherto unsolved problem of peripheral endovascular intervention methods is the necessity of using X-rays and kidney-damaging X-ray contrast agents. Furthermore, the real-time representation of hemodynamic parameters by two-dimensional angiography is only insufficient. The primary goal of the RoGUS-PAD project is to perform peripheral endovascular interventions without the use of X-rays and X-ray contrast agents and to improve the visualization of hemodynamic parameters. This is to be achieved by a novel intervention system combining the technique of ultrasound visualization with robot-assisted guidance of the transducer.In concrete terms, the following medical engineering problems are to be solved:• Automatic calibration of all systems involved (ultrasound, robot, X-ray for validation)• Fully automatic, robot-assisted intervention navigation with display of the peripheral vascular system in 2D/3D ultrasound ("ultrasound angiogram")• Acquisition of a Doppler flow image over the entire length of the leg artery• Validation of different methods for intraoperative imaging (IVUS, OCT)RoGUS-PAD provides the surgeon with new possibilities for peripheral endovascular interventions. By using robot-supported ultrasound, it will be possible to navigate and perform peripheral endovascular interventions with reduction of X-ray and contrast agent exposure. In addition, the real-time display of hemodynamic parameters by duplex ultrasound will allow improved intra-interventional success control.