Robotically Assisted Mouse Interventions

描述（由申请人提供）：监测药物或放射干预对癌症患者的影响是疾病管理的重要工具。目前使用成像监测肿瘤对治疗的反应的方法包括CT和PET扫描。新兴的方法包括功能和分子成像。除了使用成像来视觉评估肿瘤生长之外，医生可以对肿瘤进行活检以通过组织病理学评估肿瘤反应。小鼠模型越来越多地用于研究可能的癌症治疗，这些相同的成像/活检技术也经常用于小鼠模型。基于成像研究对小鼠进行活检以及在小鼠的相同区域中进行重复活检的能力将使得能够进行更准确和可重复的小鼠研究。因此，在该提案中，我们计划开发一种基于MR图像的机器人系统，用于小鼠的活检和相关穿刺程序。机器人系统将允许我们的小动物MR扫描仪的解剖结构的目标，并将包括一个专门的鼠标保持器，以确保动物。为了使机器人系统能够执行这些程序，动物必须被牢固地约束在动物保持器中。此外，必须以某种方式牢固地握住待活检的区域，就像有经验的动物技术人员用手指握住该区域一样。因此，我们还建议开发一种新的鼠标保持器作为这项工作的一部分。因此，具体目标是：1.开发小鼠保持器以约束动物并暴露侧腹进行活检和/或注射。将现有的机器人针驱动器与鼠标保持器集成在同一平台上。2.为机器人制造一个新的针保持器，并开发软件，根据小动物MRI图像命令机器人进行精确的针引导。3.使用10只小鼠进行可行性研究，以证明机器人对MRI图像上选择的小鼠侧腹进行活检的能力，并评估系统的准确性。

DESCRIPTION (provided by applicant): Monitoring the effects of pharmaceutical or radiation intervention in cancer patients is an important tool in the management of disease. Current methods for monitoring tumor response to therapy using imaging include CT and PET scanning. Emerging methods include functional and molecular imaging. In addition to the use of imaging to visually assess tumor growth, a physician may biopsy the tumor to assess the tumor response via histopathology. Mouse models are increasingly used in the study of possible cancer treatments and these same imaging/biopsy techniques are often used in mouse models. The ability to biopsy the mouse based on an imaging study and to perform repeat biopsies in the same region of the mouse would enable more accurate and repeatable mouse studies. Therefore, in the proposal we plan to develop a robotic system for biopsy and related needle procedures in mice, based on MR images. The robotic system will allow for targeting of the anatomy from our small animal MR scanner, and will include a specialized mouse holder for securing the animal. For the robotic system to be able to perform these procedures, the animal must be securely restrained in an animal holder. In addition, the area to be biopsied must be firmly held in some manner, much like the area is held by the fingers of an experienced animal technician. Therefore, we also propose to develop a new mouse holder as part of this work. The specific aims are therefore: 1. Develop a mouse holder to restrain the animal and expose the flank for biopsy and/or injection. Integrate an existing robotic needle driver with the mouse holder on the same platform. 2. Manufacture a new needle holder for the robot and develop the software to command the robot from small animal MRI images for precision needle guidance. 3. Perform a feasibility study using 10 mice to demonstrate the ability of the robot to biopsy the mouse flank as selected on the MRI images and evaluate the accuracy of the system.