Image-Guided Minimally Invasive Robotic Surgery

图像引导微创机器人手术

• 批准号: 6942467
• 负责人: CHRISTOPHER J. HASSER
• 金额: $ 35.92万
• 依托单位: INTUITIVE SURGICAL, INC.
• 依托单位国家: 美国
• 财政年份: 2004
• 资助国家: 美国
• 起止时间: 2004-08-21 至 2007-08-31
• 项目状态: 已结题
• 来源: https://reporter.nih.gov/project-details/6942467
• 关键词: computer program /software; computer system design /evaluation; image guided surgery /therapy; phantom model; robotics; technology /technique development

DESCRIPTION (provided by applicant): Image-guided surgery allows surgeons to specifically target diseased tissue while sparing healthy tissue, reducing morbidity and improving patient outcomes. Minimally invasive surgical techniques deliver specific intervention without the morbidity associated with large open incisions. Image-guidance technology has the potential to provide significant benefits for minimally invasive surgery, where surgeons must usually cope with difficult access and reduced visualization. A new generation of minimally invasive surgery has emerged that uses a robot to hold surgical tools during laparoscopy or thoracoscopy, under direct control by the surgeon. Surgical robots offer an excellent platform upon which to fuse the benefits of image-guided and minimally invasive surgery. The da Vinci surgical robot system has a high-fidelity video display, a stereo endoscope, and sensors to track the position of each surgical instrument and the endoscope, offering a potentially ready-made stream of data for registration and tracking. The proposed project will bring together a leading academic center of excellence in image-guided therapy and the market leader in surgical robotics to give da Vinci the fundamentally new capability of steering to a specific point in the patient's frame of reference. Using the current da Vinci control paradigm, the robot simply follows the surgeon's relative motions and has no concept of the patient's frame of reference. With the new ability to navigate through the patient's frame of reference as described by preoperative imagery data sets registered to the patient during surgery, da Vinci will enable surgeons to more accurately perform targeted tasks such as biopsy, tumor ablation, resection planning, and gene therapy in a minimally invasive manner. The proposed project uses liver surgery as a motivating application. Phase I will address three feasibility milestones: Establishing communication between the surgical robot and existing image-guidance software, establishing robot tracking error under 2 mm, and establishing surface registration errors under 5 mm. Phase II will further develop system capabilities and will prepare it for clinical trials in Phase III.

描述（由申请人提供）： 图像引导的手术使外科医生可以在保留健康的组织，降低发病率并改善患者预后的同时专门针对患病的组织。微创手术技术提供了特定的干预措施，而没有与大开口相关的发病率。图像引导技术有可能为微创手术提供重大益处，在这些手术中，外科医生通常必须应对难以进入的可视化和减少的可视化。在外科医生的直接控制下，出现了新一代的微创手术，该手术使用机器人在腹腔镜或胸腔镜检查过程中使用手术工具。外科机器人提供了一个绝佳的平台，可以在该平台上融合图像引导和微创手术的好处。 DA Vinci手术机器人系统具有高保真的视频显示，立体声内窥镜和传感器，可跟踪每个手术仪器和内窥镜的位置，并提供潜在的现成数据流以进行注册和跟踪。 拟议的项目将汇集一个领先的图像引导疗法卓越学术中心和外科机器人的市场领导者，以使Da Vinci从根本上具有转向的新能力，可以在患者的参考框架中转向特定点。使用当前的DA Vinci控制范式，机器人只是遵循外科医生的相对运动，并且没有患者的参考框架的概念。随着新的能力浏览患者的参考框架，如术前注册给患者的术前图像数据集，DA Vinci将使外科医生能够更准确地执行针对性的任务，例如活检，肿瘤消融，切除计划和基因治疗以微创的方式。拟议的项目使用肝脏手术作为激励应用。第一阶段将解决三个可行性里程碑：建立手术机器人与现有图像指导软件之间的通信，建立2 mm以下的机器人跟踪误差，并在5 mm下建立表面注册错误。第二阶段将进一步发展系统功能，并将为III期临床试验做准备。