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。目前用于监测肿瘤对治疗反应的影像学方法包括CT和PET扫描。新兴的方法包括功能成像和分子成像。除了使用成像来直观地评估肿瘤生长，医生可能会对肿瘤进行活检，通过组织病理学来评估肿瘤的反应。小鼠模型越来越多地用于研究可能的癌症治疗方法，这些相同的成像/活检技术经常用于小鼠模型。基于成像研究对小鼠进行活组织检查，并在小鼠的同一区域进行重复活组织检查的能力，将使小鼠研究更加准确和可重复。因此，在提案中，我们计划开发一种机器人系统，用于基于MR图像的小鼠活检和相关针刺手术。机器人系统将允许从我们的小动物磁共振扫描仪定位解剖结构，并将包括一个专门的鼠标支架来固定动物。为了使机器人系统能够执行这些程序，必须将动物安全地束缚在动物支架中。此外，要进行活检的区域必须以某种方式牢牢握住，就像经验丰富的动物技术人员用手指握住该区域一样。因此，我们也建议开发一种新的鼠标支架作为这项工作的一部分。因此，具体目标是：1。开发一个鼠标支架来约束动物并暴露侧翼进行活检和/或注射。在同一平台上集成现有的机器人针头驱动器和鼠标支架。2. 为机器人制造一种新的针架，并开发软件，根据小动物MRI图像对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图像上选择的小鼠腹部进行活检的能力，并评估该系统的准确性。

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.