MRI-Compatible Robot for Real-Time Image-Guided Stereotactic Neurosurgical Procedures: A Novel Platform Technology

项目摘要/摘要 该项目旨在开发一种与MRI兼容的新型机器人系统，该系统具有集成的成像线圈阵列，以 实现孔内实时介入治疗，提高靶向准确性，缩短术前时间 路径规划时间、术中手术时间。目前，神经外科医生经常使用术前核磁共振来 手动规划路径并将仪器放置在MRI房间外的大脑中，或者使用 被动立体定向架，或使用非磁共振成像兼容的机器人，如ROSA。正在进行神经外科手术 使用实时核磁共振引导的手术需要一种能够进行孔内干预的技术。尽管有一个 最近推出了与核磁共振兼容的商用设备ClearPoint，用于实时核磁共振引导 瞄准，它是被动的，因此需要耗时的人工调整。它也不适合于多个 目标应用程序，因为它是本地安装在头骨上。对于肿瘤活检和消融，目前的路径规划 要求神经外科医生进行大量的手动术前计划，这可能需要一个小时或 更多。尽管进行了广泛的前期计划，但一旦颅骨被切除，手术中的重新计划有时是必要的。 打开了。最后，目前的成像磁头线圈是专门为诊断程序设计的， 包围病人的头部，限制进入手术区域。因此，目前的程序是 时间密集，特别是对于多目标程序。没有现有的医疗设备技术可以 应对神经外科的所有主要挑战：1)单一/多目标盲目手术时间过长 程序，2)由于磁共振成像线圈对大脑的访问受限，以及3)广泛的手动路径规划。我们 提出开发一种与MRI兼容的嵌入式可移动线圈阵列小型化新型机器人系统 适用于具有自动路径规划技术的实时井内应用。《公约》的具体目标 建议的研究是(1)设计、建造和测试具有自动路径规划器的MRI兼容机器人， (2)研制了嵌入式磁共振线圈阵列；(3)对系统组件进行了集成，并对系统进行了评估 精确度。拟议项目的成功完成将提供必要的技术可行性和 工作流验证信息，以支持下一步临床可行的人体试验系统的开发 相位。

Project Summary/Abstract This project aims to develop a novel MRI-compatible robotic system with an integrated imaging coil array to enable in-bore real-time interventional procedures, improve the targeting accuracy, shorten the pre-operative path planning time, and intra-operative surgery time. Currently, neurosurgeons often use pre-operative MRI to plan the path manually and place the instrument in the brain outside of the MRI room either manually using a passive stereotactic frame, or by using non-MRI compatible robots such as ROSA. Performing neurosurgical procedures using real-time MRI-guidance requires an enabling technology for in-bore interventions. Although an MRI-compatible commercial device has been recently introduced, ClearPoint, for real-time MRI-guided targeting, it is passive and thus requires time consuming manual adjustment. It is also not appropriate for multi- target application as it is locally mounted on the skull. For tumor biopsy and ablation, path planning currently requires the neurosurgeon to perform extensive manual preoperative planning which can require one hour or more. Despite extensive pre-planning, intra-operative re-planning is sometimes required once the skull is opened. Lastly, current imaging head coils have been designed specifically for diagnostic procedures, encompassing the patient’s head and limiting access to the surgical area. Consequently, current procedures are time-intensive, especially for multi-target procedures. There are no existing medical device technologies that can address all the major neurosurgery challenges of: 1) lengthy blind procedure time for single-/multi-target procedures, 2) limited brain access due to the MR imaging coil, and 3) extensive manual path planning. We propose to develop an MRI-compatible and low-profile novel robotic system with embedded movable coil array for real-time in-bore application featured with automatic path planning techniques. The specific aims of the proposed research are to (1) Design, construct, and test an MRI-compatible robot with an automatic path planner, (2) Develop an embedded MR coil array, and (3) Integrate the system components and evaluate the system accuracy. The successful completion of the proposed project will provide the necessary technical feasibility and workflow validation information to support development of clinically viable system for human trial in the next phase.