New Technologies for Real-Time MRI-Guided Robotic-Assisted Abdominal Interventions

实时 MRI 引导机器人辅助腹部干预新技术

• 批准号: 10530929
• 负责人: David S.K. Lu
• 金额: $ 63.92万
• 依托单位: UNIVERSITY OF CALIFORNIA LOS ANGELES
• 依托单位国家: 美国
• 财政年份: 2022
• 资助国家: 美国
• 起止时间: 2022-09-06 至 2026-06-30
• 项目状态: 未结题
• 来源: https://reporter.nih.gov/project-details/10530929
• 关键词: 3-Dimensional; Abdomen; Ablation; Biopsy; Breathing; Caliber; Cancer Etiology; Cancerous; Cessation of life; Computer Assisted; Computer software; Data; Devices; Diagnosis; Early Diagnosis; Effectiveness; Engineering; Excision; Face; Family suidae; Feedback; Foundations; Freedom; Frequencies; Generations; Human; Image; Interdisciplinary Study; Intervention; Ionizing radiation; Length of Stay; Lesion; Liver; Liver neoplasms; Magnetic Resonance Imaging; Malignant Neoplasms; Malignant neoplasm of abdomen; Mechanics; Methods; Modeling; Morbidity - disease rate; Morphologic artifacts; Motion; Needles; Normal tissue morphology; Operative Surgical Procedures; Organ; Patients; Physicians; Physiological; Pre-Clinical Model; Primary carcinoma of the liver cells; Procedures; Radial; Robot; Robotics; Safety; Scanning; Slave; Slice; Stream; Structure; Survival Rate; System; Techniques; Technology; Testing; Time; Tissues; Visualization; Work; X-Ray Computed Tomography; accurate diagnosis; base; bulk motion; clinically relevant; curative treatments; deep learning; experimental study; fly; human subject; image guided; image guided intervention; imaging scientist; improved; in vivo; innovation; innovative technologies; minimally invasive; mortality; new technology; next generation; porcine model; predictive modeling; preservation; programs; radiologist; real-time images; robotic system; simulation; soft tissue; success; tissue phantom; transmission process; tumor; ultrasound

PROJECT SUMMARY Abdominal cancers are a devastating cause of morbidity and mortality worldwide. For example, hepatocellular carcinoma (HCC) has a grim five-year survival rate of less than 20% and is the fastest rising cause of cancer- related deaths in the U.S. Early and accurate diagnosis is crucial, as curative treatment is feasible by surgical resection and/or focal ablation. Compared to surgery, focal ablation reduces hospital stay, increases preservation of surrounding normal tissues, and decreases treatment-related morbidities. However, focal ablation still faces critical limitations in applicability and effectiveness due to inadequate image guidance and procedural accuracy provided by current approaches. Consequently, there is a pressing need to establish new minimally invasive interventions to improve the diagnosis and treatment of abdominal cancers. Conventional abdominal interventions rely on image guidance by ultrasound and/or computed tomography (CT), which can fail to provide sufficient visualization of the cancerous lesions. In addition, CT utilizes ionizing radiation and cannot be used for real-time imaging throughout an intervention. Magnetic resonance imaging (MRI) has crucial advantages that make it ideal for real-time guidance of abdominal interventions: it is the best and/or only way to visualize HCC and several types of abdominal cancers, has no ionizing radiation, and has the potential for real- time imaging of abdominal organs that are constantly in motion. However, current real-time MRI suffers from compromises in image quality, time latency, and difficulties in tracking the devices and tissue targets during motion. Furthermore, the narrow physical space of MRI scanners severely impedes the physician’s access to the patient inside the scanner during imaging. As a result, current MRI-guided interventions require cumbersome workflows that hamper the accuracy and efficiency. The objective of this proposal is to overcome these challenges and enable real-time MRI-guided abdominal interventions. The interdisciplinary research team will leverage synergistic innovations in (1) real-time MRI and computer-aided guidance methods, (2) MRI-compatible robotics, and (3) computer-aided feedback control methods and interactive user interfaces to create a new real-time MRI-guided robotic system. The system will be evaluated in programmable dynamic tissue phantoms and in vivo pig liver models to achieve safe, accurate, and efficient needle placement in moving targets – the foundation for all abdominal interventions. This new robotic system will enable next-generation real-time MRI-guided interventions that can positively impact the diagnosis and treatment of patients with liver tumors and abdominal cancers.

项目概要 腹部癌症是全世界发病率和死亡率的一个毁灭性原因。 肝癌 (HCC) 的五年生存率低于 20%，是上升最快的癌症原因 - 美国的相关死亡 早期和准确的诊断至关重要，因为可以通过手术进行治愈性治疗 与手术相比，局部切除和/或局部消融可缩短住院时间，延长住院时间。 保护周围正常组织，并减少与治疗相关的发病率。 由于图像引导和图像引导不足，消融在适用性和有效性方面仍然面临严重限制。 现有方法所提供的程序准确性已得到检验，迫切需要建立新的方法。 微创干预措施可改善腹部癌症的诊断和治疗。 传统的腹部干预措施依赖于超声和/或计算机断层扫描 (CT) 的图像引导， 这可能无法提供癌性病变的充分可视化。此外，CT 利用电离辐射。 并且不能用于整个干预过程中的实时成像。 使其成为腹部干预实时指导的理想选择的关键优势：它是最好和/或唯一的方法 可视化 HCC 和几种类型的腹部癌症，没有电离辐射，并且具有真实的潜力 然而，当前的实时 MRI 存在一些问题。 图像质量、时间延迟以及跟踪设备和组织目标的困难 此外，MRI 扫描仪狭窄的物理空间严重阻碍了医生的操作。 因此，当前的 MRI 引导干预措施需要繁琐的操作。 阻碍准确性和效率的工作流程。 该提案的目标是克服这些挑战并实现实时 MRI 引导腹部 跨学科研究团队将利用 (1) 实时 MRI 和 计算机辅助引导方法，(2) MRI 兼容机器人技术，以及 (3) 计算机辅助反馈控制 方法和交互式用户界面来创建新的实时 MRI 引导机器人系统。 在可编程动态组织模型和体内猪肝模型中进行评估，以实现安全、准确、 以及在移动目标中高效进针——这是所有腹部干预措施的基础。 机器人系统将实现下一代实时 MRI 引导干预，这可以对 肝脏肿瘤和腹部癌症患者的诊断和治疗。