Real-Time MRI Guided Robotic Catheter System for Atrial Fibrillation Ablation

用于心房颤动消融的实时 MRI 引导机器人导管系统

基本信息

批准号：
10191032
负责人：
M. Cenk Cavusoglu
金额：
$ 67.68万
依托单位：
CASE WESTERN RESERVE UNIVERSITY
依托单位国家：
美国
项目类别：
财政年份：
2020
资助国家：
美国
起止时间：
2020-07-01 至 2024-06-30
项目状态：
已结题

来源：
https://reporter.nih.gov/project-details/10191032
关键词：
3-Dimensional Ablation Algorithms Anatomy Animals Area Atrial Fibrillation Augmented Reality Awareness Back Blood flow Cardiac Cardiac ablation Catheters Cicatrix Clinical Cognitive Data Data Collection Discrimination Ensure Goals Heart Atrium Image Immersion Intervention Intuition Lesion Magnetic Resonance Imaging Medical Imaging Methods Modality Motion Physicians Positioning Attribute Prevalence Principal Investigator Procedures Process Recurrence Research Research Personnel Robotics Sampling Scheme Speed System Systems Integration Technology Three-Dimensional Imaging Time Tissues Uncertainty United States User-Computer Interface Validation Visualization Work anatomic imaging design experimental study flexibility heart motion human subject image guided image reconstruction image visualization improved in vivo innovative technologies magnetic field novel novel strategies overtreatment pre-clinical prototype reconstruction robot control robotic system temporal measurement three-dimensional visualization time use

项目摘要

Abstract The purpose of the present study is to design an MRI-guided robotic catheter system to significantly improve the efficacy of atrial fibrillation ablation interventions. Specifically, in this study, the investigators will develop an MRI-guided robotic intra-vascular catheter system by synergistically integrating novel real-time MRI, robotic catheter control, and advanced human-machine interface technologies. The developed robotic system will seek to eliminate recurrences resulting from inaccurate and insufficient treatment, and complications resulting from over-treatment by enabling the physician to effectively see, navigate, and control the catheter in relation to the anatomy. The system will improve the physician's ability to visualize the cardiac anatomy and allow the physician to evaluate the substrate depth and lesion created in real-time using intraoperative MRI. The precise and dexterous robotic catheter control will enable the physician to accurately and easily steer the catheter and maintain robust contact with the atrium to generate a transmural scar and ensure a continuous trajectory without gaps. The advanced human-machine interface will enable intuitive and dexterous catheter control and provide the physician with unparalleled situational awareness. The investigators will integrate the developed technologies into a complete MRI-guided robotic catheter system prototype, and validate them in benchtop experiments as well as in vivo in a large animal study.

抽象的本研究的目的是设计一种 MRI 引导的机器人导管系统，以显着改善房颤消融干预的疗效。具体来说，在这项研究中，研究人员将开发 MRI引导的机器人血管内导管系统通过协同集成新颖的实时MRI、机器人导管控制和先进的人机界面技术。所开发的机器人系统将寻求消除因治疗不准确和不充分而导致的复发以及由此产生的并发症通过使医生能够有效地查看、导航和控制相关导管，避免过度治疗到解剖学。该系统将提高医生可视化心脏解剖结构的能力，并允许医生使用术中 MRI 实时评估基底深度和病变。精确的灵巧的机器人导管控制将使医生能够准确、轻松地操纵导管并与心房保持牢固接触以产生透壁疤痕并确保连续轨迹无间隙。先进的人机界面将实现直观、灵巧的导管控制和为医生提供无与伦比的态势感知能力。研究人员将整合已开发的将技术融入完整的 MRI 引导机器人导管系统原型中，并在台式上对其进行验证实验以及大型动物体内研究。