A Steerable Compact Robot for MRI-Guided Minimally-Invasive Interventions

1)对研究背景的简要描述，包括潜在的影响在现代医学中，微创影像引导介入治疗处于癌症治疗的前沿。在这种背景下，介入性MRI为软组织提供了更高的图像质量和分辨率，从而打开了新的可能性。此外，与CT成像相比，无辐射能够在手术过程中实现连续的视觉反馈，而不会伤害患者或临床医生。然而，介入性核磁共振机器的使用带来了新的挑战：与CT机器相比，内径更窄，大大减少了临床医生的工作空间和使用的工具，这既影响了手动工具，也影响了机器人辅助工具。此外，对MRI兼容性的需求极大地影响了工具设计。已经开发了机器人解决方案来帮助外科医生进行经皮手术，如插入用于冷冻消融的探头和射频消融肾脏和肝脏肿瘤肿块。已经提出了许多机器人解决方案来解决这一问题，然而，在尺寸、重量、驱动和针头插入机构的设计方面仍然存在多重挑战。这个博士项目将专注于开发一种与MRI兼容的紧凑型机器人，用于经皮针插入和转向。这种引导系统可以与针状探头一起用于活组织检查、冷冻或射频消融，以及用于癌症治疗的局部药物输送。2)目的和目的为了解决上述挑战，本博士项目将设计一种半自主的MRI兼容的小型机器人，用于经皮穿刺针的活检、冷冻或射频消融，以及提供诊断和治疗癌症的药物。本项目的目的是开发和验证这种新型的机电系统以及控制方法，以操作组织内的针，以更短的扫描时间和更少的步骤达到预定的目标，以减少患者的痛苦。3)研究方法的新颖性为了将介入机器人部署在真实的临床场景中，还必须考虑到临床要求，如生物兼容性。此外，专家临床医生，特别是介入放射科医生和肿瘤学家的意见将是拟议系统开发的关键。将在外科手术室进行定期观察，以了解手术流程，并与临床项目的合作伙伴密切合作。对于设想的经皮插入系统，开发有效的探头夹持、插入和转向机制至关重要。在针对身体不同部位的插入时，需要考虑不同的插入角度以优化穿刺法。因此，机器人应该具有角度可调的结构。将对不同的机构进行测试，以评估适用于这一应用的最佳驱动技术。将开发用于夹紧、插入和转向的组合机构，以缩小致动器的尺寸，使其能够用于MRI扫描仪的窄孔。还将研究一种将针状探头驱动到组织中的方法，该方法可能类似于注射器或液压活塞，以及类似的角度可调结构。4)与EPSRC的战略和研究领域保持一致介入和手术机器人是当前的研究热点，特别是使用机器人技术治疗肿瘤。拟议的项目与EPSRC物理干预前沿的重大挑战很好地结合在一起，提出了一种新的方法来治疗肿瘤，使用MRI引导的机器人解决方案来指导最先进的针状探测。5)有公司参与吗？无

1) Brief description of the context of the research including potential impactMinimally-invasive image-guided interventions are at the forefront of cancer treatment in modern medicine. In this context, interventional MRI is opening new possibilities given the higher image quality and resolution when it comes to soft tissues. Furthermore, when compared with CT imaging, the absence of radiations enables continuous visual feedback during surgery without harming the patient or the clinicians. However, the use of interventional MRI machines poses new challenges: the narrower bore in comparison to their CT counterparts significantly reduces the workspace of clinicians and the tools used, which impacts both manual tools and robotic-assisted ones. Moreover, the demand for MRI-compatibility greatly impacts tool designs. Robotic solutions have been developed to assist surgeons in percutaneous procedures such as needle insertion of probes for cryoablation and RF-ablation of tumoral masses in the kidneys and in the liver. A number of robotic solutions to solve this problem have been proposed, however, there are still multiple challenges related to the size, the weight, the actuation and the design of the mechanisms for needle insertion. This PhD project will focus on the development of an MRI-compatible compact robot for percutaneous needle insertion and steering. Such guiding system can be used with needle-shaped probes for biopsies, cryo- or RF-ablations as well as for localised drugs delivery for cancer treatment. The proposed research will generate impactful results in the field of MRI-compatible needle insertion for oncology.2) Aims and ObjectivesIn order to solve the aforementioned challenges, this PhD project will design a semi-autonomous MRI compatible compact robot for percutaneous needle insertion for the biopsy, cryo- or RF-ablations, and delivery of drugs to diagnose and treat cancer. The aim of this project is the development and validation of this novel mechatronic system as well as the control methods to manipulate the needle within the tissue to reach the pre-defined targets with shorter scan times and fewer steps to reduce patients' suffering.3) Novelty of Research MethodologyTo deploy the interventional robot in a real clinical scenario, clinical requirements such as biocompatibility must also be taken into consideration. Moreover, input from expert clinicians, specifically interventional radiologists and oncologists, will be key for the development of the proposed system. Regular observations in the surgical theatre will take place to understand the procedure workflow and work in close collaboration with the clinical project's partners.For the envisioned system for percutaneous insertion the development of efficient mechanisms for probe clamping, inserting, and steering is of paramount importance. In insertions for different parts of the body, different insertion angles need to be considered to optimise the puncturing. Hence, the robot should have an angle-adjustable structure. Different mechanisms will be tested to assess the best actuation technology for this application. Combined mechanisms for clamping, inserting, and steering are going to be developed to downsize the actuator so that it can be used in the narrow bore of the MRI scanner. A method for driving the needle-shaped probe into the tissue, which could be similar to a syringe or hydraulic piston, and similar angle-adjustable structure will also be investigated. 4) Alignment to EPSRC's strategies and research areasInterventional and surgical robotics is a current research hotspot, especially using robotic technology to treat tumours. The proposed project well aligns with the EPSRC grand challenge of the Frontiers of Physical Intervention by proposing a novel approach to treat tumours using MRI-guided robotic solutions to guide state-of-the-art needle-shaped probes.5) Any companies involved? None