MULTI IMAGER COMPATIBLE ROBOT FOR PROSTATE ACCESS

描述(由申请人提供)：本R2L的研究目标和 R33分阶段应用是为了推进诊断中使用的技术 和局部治疗在前列腺癌治疗中的应用 允许改进和可重现的仪器的发展 导航和受控的探头插入前列腺。这个 交付件是一种精确的机制，用于执行精确的图像引导 活体组织检查、近距离放射治疗、冷冻手术、热疗、 组织间激光治疗，聚焦超声和微波，化疗， 基因疗法，或其他新的程序。我们建议开发一种新的 用于精确图像引导干预的仪器。即使这项提议 应用依赖于泌尿外科领域，建议的系统适用于 种类繁多的其他特产。此应用程序限制 在前列腺诊断和治疗中的应用范围 泌尿学应用是我们感兴趣的主要领域。 研究的中心是一种紧凑的图像引导机器人系统，它可以 可与标准和现代医学成像设备一起使用。的新奇之处 该系统依赖于其与多种成像模式的兼容性，例如 如透视、超声波、计算机断层扫描(CT)、磁共振 成像(MR)和光谱成像(MRSI)。这不仅允许 使用所选的成像器执行手术，但也可以使用 跨平台、组合成像模式。 目前，一项密集的研究工作集中在小说的发展上。 先进的成像和改进的可视化方法。相比之下， 用于图像导航和治疗提供的先进仪器 谦虚地说。针刺手术通常是徒手进行的，或者用 经直肠超声引导下的“模板”装置。目前，没有 机械装置的存在是为了可控制地和重复地接触前列腺 其精度可与现代医学成像系统相媲美。 虽然医学界对最好的治疗方式仍存在分歧 对于前列腺癌，人们一致认为其特异性很差 以及当前使用的前列腺接入技术的可预测性。增强版 磁共振成像提供无可争议的组织对比度和图像质量，这应该 用于指导活检和局部治疗。这一目标需要 微型、极高灵巧度的机器人能够在 MR扫描仪的磁体，可以是“开放”的或传统的闭孔 系统。这项任务还需要在当前的技术中实现一个巨大的飞跃 机电一体化设备，显然将医疗机器人带入下一代 千禧年。 我们建议开发一种可以利用最先进的 用于实现泌尿科医生所获得结果的成像方法， 肿瘤学家、放射学家、放射治疗师和生物医学研究人员 临床应用。它创造了测量疾病局部范围的方法， 用于通过高级技术执行受控活检和治疗 图像引导导航和控制。与最近的 磁共振成像下肿瘤定位的柠檬酸盐/胆碱比值方法，例如， 这种多应用系统可以用来精确地以肿瘤为中心 活组织检查程序。 主要的研究挑战在于机器人与多个 成像系统，特别是传统的磁共振成像仪。创新型 工程研究将解决设计小型化、足够的材料 选材和制造。机械部分，它将在 成像仪在靠近前列腺的位置上形成的空间将是 辐射透明、非磁性、绝缘体，并将提供安全和 绝育手术。为此，系统，包括发动机，将是 由塑料、碳纤维复合材料、陶瓷、 眼镜和橡胶。成像者房间的电力使用将是 通过使用光学传感器和气动/液压马达消除 控制设备将放置在成像仪的控制室中。

DESCRIPTION (provided by applicant): The research objective in this R2l and R33 phased application is to advance the technology utilized in the diagnosis and delivery of localized therapy in the treatment of prostate cancer through the development of instrumentation allowing for improved and reproducible navigation and controlled probe insertion into the prostate gland. The deliverable is an accurate mechanism for performing precise image-guided procedures such as biopsy, brachytherapy, cryosurgery, hyperthermia, interstitial laser therapy, focused ultrasound and microwaves, chemotherapy, gene therapy, or other novel procedures. We propose the development of a new instrument for precise image-guided intervention. Even though this proposal's application relies in the urologic field, the proposed system applies to a large variety of other specialties. This application restricts the application range to the diagnostic and treatment of the prostate since urologic applications are our main domain of interest. The centerpiece of research is a compact image-guided robotic system which can be used with standard and modern medical imaging equipment. The novelty of the system relies in its compatibility with multiple imaging modalities, such as fluoroscopy, ultrasound, computer tomography (CT), magnetic resonance imaging (MR), and spectroscopic imaging (MRSI). This allows not only for performing procedures with the imager of choice but also for using cross-platform, combined imaging modalities. An intense research effort is presently focused on the development of novel methods for advanced imaging and improved visualization. In contrast, the instrumentation used for image guided navigation and therapy delivery advanced modestly. Needle procedures are typically performed freehand or with a "template" device under transrectal ultrasound guidance. At present, no mechanical device exists for controllably and repeatedly access the prostate with a precision comparable with that of modern medical imaging systems. While the medical community is still divided about the best treatment modality of prostate cancer, there is undivided agreement about the poor specificity and predictability of the currently used prostate access techniques. Enhanced MR imagery provides uncontested tissue contrast and image quality, which ought to be used for guiding biopsy and localized therapy. This goal requires miniature, extremely high dexterity robots that are able to operate inside the magnet of MR scanners, which may be "open" or conventional closed bore systems. This task also demands a quantum leap in the current technology of mechatronic devices and clearly leads medical robotics into the next millennium. We propose to develop an instrument that could exploit the most advanced imaging methods for implementing the results obtained by urologists, oncologists, radiologists, radiotherapists, and biomedical researchers into clinical use. It creates means for measuring the local extent of the disease, for performing controlled biopsy and therapy delivery through advanced image-guided navigation and control. In conjunction with the recent citrate/choline ratio methods of tumor localization under MRSI, for example, this multi-application system could be used to perform precise tumor-centered biopsy procedures. The main research challenge relies in the robot compatibility with multiple imaging systems, especially the conventional MR imager. Innovative engineering research will address design miniaturization, adequate material selection and manufacturing. The mechanical part, which will operate within the conformed space of the imager in close proximity of the prostate, will be radiolucent, nonmagnetic, dielectric, and will provide means for safety and sterilization. For this, the system, including the motors, will be constructed of materials such as plastics, carbon fiber composites, ceramics, glasses, and rubbers. The use of electricity in the imager's room will be eliminated by using optical sensors and pneumatic/hydraulic motors while all control equipment will be located in the control room of the imager.