STTR Phase I: A robotic system for performing biopsies and therapeutic interventions while the patient is inside an MRI scanner

STTR 第一阶段：一种机器人系统，用于在患者位于 MRI 扫描仪内时进行活检和治疗干预

• 批准号: 1622946
• 负责人: Michael Heffernan
• 金额: $ 22.47万
• 依托单位: GuidaBot, LLC
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2016
• 资助国家: 美国
• 起止时间: 2016-07-01 至 2017-12-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=1622946&HistoricalAwards=false
• 关键词: STTR; Phase; robotic; system; performing

The broader impact/commercial potential of this Small Business Technology Transfer (STTR) Phase I project is that it will benefit healthcare by improving patient outcome and procedural efficiency. While Magnetic Resonance Imaging (MRI) is increasingly used to guide interventions, this is challenged by the limited access to the patient inside the scanners. Current practices - either removing the patient and manually inserting the tools or moving the patient to another modality - lengthen the procedures, reduce accuracy, and increase possible trauma. The proposed novel robotic and MRI technologies will address those limitations, enabling performing procedures with the patient inside the MRI scanner. Thus continuous MRI images can be used for diagnostic and therapeutic interventions offering more accurate lesion targeting, shorter procedure times, reduced patient trauma, faster recovery, lower cost, and improved patient outcome. This would transform interventional medicine by improving diagnostic and therapeutic interventions with high impact to patients, their families, and society. With faster patient recovery, this technology will reduce the overall cost of healthcare and enable faster return of patients to the workforce. The novel robotic technologies will generate new positions in R&D and production in medical industries, as well as economic benefits from employing highly skilled personnel.The proposed project will develop novel technologies at the intersection of robotics and imaging. The solid-media transmission (SMT) mechanism offers the flexibility of fluidic lines but in a system that is leak-free and less complex and has a more compact power take-off arrangement. The SMT mechanism enables the development of an MRI-compatible manipulator that is adaptable and scalable for use in a wide range of medical interventions, carrying and maneuvering virtually any tool. The proposed research will elucidate the effect of geometric and material parameters on the operation of the SMT mechanism. A prototype SMT-actuated manipulator will be used to demonstrate the functionality of this technology in real-time MRI-guided procedures in-situ and disseminate it with on-site and hands-on demonstrations to clinical venues. Beyond the merit in medical applications, this research enhances scientific and technological understanding by demonstrating an alternative mechanism of remote actuation or local distribution of actuation within a manipulator, which creates the potential to generate novel mechatronic assemblies with applications in automation, oil/gas industries, and aerospace.

这一小型企业技术转移（STTR）I阶段项目的更广泛的影响/商业潜力是，它将通过提高患者的结果和程序效率来使医疗保健受益。虽然磁共振成像（MRI）越来越多地用于引导干预措施，但由于扫描仪内部对患者的访问有限而挑战。当前的做法 - 要么去除患者并手动插入工具，要么将患者移至另一种方式 - 延长程序，降低准确性并增加可能的创伤。拟议的新型机器人和MRI技术将解决这些局限性，从而使MRI扫描仪内部的患者执行程序。因此，连续的MRI图像可用于诊断和治疗性干预措施，提供更准确的病变靶向，较短的手术时间，减少患者创伤，更快的康复速度，更低的成本和改善的患者预后。这将通过改善对患者，家人和社会影响很大的诊断和治疗干预措施来改变介入医学。随着患者康复的速度，这项技术将降低医疗保健的总体成本，并使患者更快地返回劳动力。新型的机器人技术将在医疗行业的研发和生产中产生新的立场，以及使用高技能人员的经济利益。拟议的项目将在机器人技术和成像的交集中开发新技术。实心媒体传输（SMT）机制提供了流体线的灵活性，但在无泄漏且较不复杂且具有更紧凑的功率起飞布置的系统中。 SMT机制可以开发与MRI兼容的操纵器的开发，该操作器具有适应性且可扩展的，可在多种医疗干预措施中使用，几乎可以携带和操纵任何工具。拟议的研究将阐明几何和材料参数对SMT机制运行的影响。原型SMT驱动的操作器将用于实时MRI引导程序（现场），并通过现场和动手演示将其实时传播到临床场所。除了医疗应用中的优点外，这项研究还通过证明操纵器中远程驱动或致动的局部驱动的替代机制来增强科学和技术理解，从而产生了在自动化，石油/天然气工业和航空航天中生成新型的新机械集组件的潜力。