TRANSRECTAL PROSTATE THERAPY ROBOT IN CLOSED MRI SCANNER

本子项目是利用由NIH/NCRR资助的中心赠款提供的资源的众多研究子项目之一。子项目和研究者（PI）可能已经从另一个NIH来源获得了主要资金，因此可以在其他CRISP条目中表示。列出的机构是中心的，不一定是研究者的机构。许多研究已经证明了针刺治疗和活检在前列腺癌治疗中的有效性。尽管临床和生物物理方法取得了很大的进步，然而，精确的解剖引导针头放置和实际治疗过程的实时监测仍然是尚未解决的问题。磁共振成像（MRI）已被发现是指导和监测前列腺干预的理想成像方式，因为它对软组织异常的高特异性，实时监测针头放置和诱导的生理变化的能力，并且如果与h光谱结合，它能够显示同步代谢活动。然而，与此同时，封闭高场MRI历来是指导微创干预的最不可用的成像方式。扫描仪的高磁场和极其有限的物理空间给工程带来了巨大的挑战，而“传统”的问题，如针头偏转、组织变形和目标运动也增加了问题。我们的最终目标是提供一个技术平台，用于诊断、分析和治疗目的的精确经直肠针插入前列腺；在传统的封闭MRI扫描仪内，在主动的实时MRI引导和监测下。在之前的工作中，我们已经开发了这样一个集成系统的原型，并证明了我们的方法在各种诊断和治疗应用中的可行性，在犬体内。针对这种RFA，我们建议开发一种更先进的系统，适用于人类患者的各种应用。

This subproject is one of many research subprojects utilizing the resources provided by a Center grant funded by NIH/NCRR. The subproject and investigator (PI) may have received primary funding from another NIH source, and thus could be represented in other CRISP entries. The institution listed is for the Center, which is not necessarily the institution for the investigator. Numerous studies have demonstrated the efficacy of needle-based therapy and biopsy procedures in the management of prostate cancer. Despite all advances in clinical and biophysical methodologies, however, precise anatomy-guided needle placement and real-time monitoring of the actual therapeutic process are still unsolved problems. Magnetic resonance imaging (MRI) has been found to be an ideal imaging modality for guiding and monitoring prostatic interventions, due to its high specificity to soft tissue abnormalities, real-time capability in monitoring needle placement and induced physiological changes, and its ability to show concurrent metabolic activity if combined wil:h spectroscopy. At the same time, however, closed high-field MRI historically has been the most unavailable imaging modality for guiding minimally invasive interventions. The scanner's high magnetic field and extremely confined physical space present a formidable engineering challenge, and "conventional" difficulties such as needle deflection, tissue deformation, and target motion also add to the problem. Our ultimate goal is to provide a technology platform for precise transrectal needle placement into the prostate for diagnostic, analytical, and therapeutic purposes; inside a conventional closed MRI scanner, under active real-time MRI guidance and monitoring. In prior work, we have developed a prototype of such an integrated system and proved the feasibility of our approach in a variety of diagnostic and therapeutic applications, invivo on canines. In response to this RFA, we propose to develop a more advanced system that is suitable for a variety of applications on human patients.