MULTI IMAGER COMPATIBLE ROBOT FOR PROSTATE ACCESS

描述（由申请人提供）：本R2 l中的研究目的和 R33分阶段应用是为了推进诊断中使用的技术 以及在前列腺癌的治疗中局部治疗的递送， 仪器的发展，允许改进和可重复的 导航和受控探针插入前列腺。 的 可交付物是一种精确的机制，用于执行精确的图像引导 例如活组织检查、近距离放射治疗、冷冻手术、热疗 间质激光治疗，聚焦超声和微波，化疗， 基因治疗或其他新方法。 我们建议开发一种新的 用于精确图像引导干预的仪器。 尽管这个提议 虽然本发明的应用依赖于泌尿领域，但是所提出的系统应用于泌尿外科领域。 各种各样的其他专业。 此应用程序限制了 前列腺的诊断和治疗的应用范围， 泌尿外科应用是我们的主要兴趣领域。 研究的核心是一个紧凑的图像引导机器人系统， 可与标准和现代医学成像设备配合使用。 的新奇 该系统依赖于其与多种成像模态的兼容性， 如荧光透视、超声、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 使用所选的成像仪进行手术， 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。 而反观 用于图像引导导航和治疗输送的先进仪器 谦虚地说。 针头手术通常是徒手进行的， 在经直肠超声引导下的“模板”装置。 目前没有 存在用于可控地和重复地进入前列腺的机械装置 其精度可与现代医学成像系统的精度相媲美。 虽然医学界对最佳治疗方式仍存在分歧 对于前列腺癌的诊断， 以及当前使用的前列腺进入技术的可预测性。 增强 MR成像提供了无可争议的组织对比度和图像质量， 用于引导活检和局部治疗。 这一目标需要 微型，非常灵活的机器人，能够在内部操作， MR扫描仪的磁体，可以是“开放”或传统的封闭孔 系统. 这项任务还需要在现有技术上实现飞跃， 机电一体化设备，并显然导致医疗机器人进入下一个 千禧年。 我们打算开发一种仪器， 用于实现泌尿科医生获得的结果的成像方法， 肿瘤学家、放射科医生、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， 用于通过先进的技术执行受控的活检和治疗递送， 图像导航和控制。 结合最近的 例如，在MRSI下肿瘤定位的柠檬酸盐/胆碱比率方法， 这种多应用系统可用于执行精确的以肿瘤为中心的 活检程序。 主要的研究挑战依赖于机器人与多种机器人的兼容性。 成像系统，尤其是常规MR成像器。 创新 工程研究将解决设计小型化，足够的材料 选择和制造。 机械部分，将在 成像器在前列腺附近的一致空间将 无线电、微波、电介质，并将提供安全和 灭菌 为此，包括电机在内的系统将 由诸如塑料，碳纤维复合材料，陶瓷， 眼镜和橡胶。 在成像仪的房间里用电将是 通过使用光学传感器和气动/液压马达消除， 控制设备将位于成像仪的控制室中。

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.