Ultrasound Guidance for a Laparoscopic Surgical Robot

腹腔镜手术机器人的超声引导

• 批准号: 7276676
• 负责人: RUSSELL H TAYLOR
• 金额: $ 36.51万
• 依托单位: INTUITIVE SURGICAL, INC.
• 依托单位国家: 美国
• 财政年份: 2006
• 资助国家: 美国
• 起止时间: 2006-08-15 至 2010-07-31
• 项目状态: 已结题
• 来源: https://reporter.nih.gov/project-details/7276676
• 关键词: Ablation; Achievement; Architecture; Behavior; Benchmarking; Biopsy; Cadaver; Cardiac; Clinic; Clinical; Clinical Research; Collaborations; Condition; Development; Disease; Effectiveness; Endoscopes; Environment; Evaluation; Excision; Eye; Face; Family suidae; Foundations; Goals; Gold; Hand; Hepatic; ImProv; Image; Image-Guided Surgery; Imagery; Imaging Device; Institution; Intervention; Invasive; Laparoscopy; Laparotomy; Lesion; Life; Liver; Liver neoplasms; Location; Magnetic Resonance Imaging; Malignant neoplasm of liver; Measures; Metastatic Neoplasm to the Liver; Morbidity - disease rate; Motion; Needles; Operative Surgical Procedures; Outcome; Patients; Performance; Phase; Placement; Pliability; Procedures; Process; Puncture biopsy; Range; Research; Research Infrastructure; Research Institute; Research Personnel; Robot; Robotics; Small Business Technology Transfer Research; Software Tools; Staging; Standards of Weights and Measures; Surgeon; Surgical incisions; Surveys; Sus scrofa; System; Techniques; Technology; Testing; Today; Tweens; Ultrasonography; United States Food and Drug Administration; Universities; Urologic Surgical Procedures; Virtual Tool; Vision; Work; base; cancer therapy; clinically relevant; comparative; design; evaluation/testing; experience; image visualization; improved; in vivo; innovation; instrument; liver imaging; programs; prototype; sound; success; tool; tumor

DESCRIPTION (provided by applicant): This proposal represents the second phase of an STTR partnership involving Intuitive Surgical Systems and Johns Hopkins University. Phase I demonstrated the feasibility and promise of integrating laparoscopic ultrasound (LUS) capability into daVinci. Phase II will develop a complete, integrated application environment and testbed surgical applications for LUS-guided liver surgery. Our general goal is to provide the image quality and access of "open" ultrasonography in a minimally-invasive environment, while also improving the surgeon's ability to do ultrasound-guided procedures. The Phase II system will provide a realistic evaluation of the potential of an LUS-capable daVinci system for hepatic surgery as well as evaluation of the design choices and trade-offs in the functions developed. Phase II has 3 specific aims: Specific Aim 1: Develop functional capabilities required for LUS-assisted robotic surgery. We will extend the Phase I architecture to improve robustness, flexibility, and suitability for evaluation. Other functional enhancements include an articulated robotic LUS probe, prototype biopsy and ablation tools, "virtual fixtures" and improved semi-automated behaviors for ultrasound imaging and targeting of lesions, LUS visualization capabilities integrated into the daVinci user interface, as well as other significant enhancements to the interface permitting the surgeon to interact with LUS system, images, and other functions of the system. Specific Aim 2: Produce an Integrated Robotic System for LUS-Assisted Hepatic Surgery. We will combine these capabilities to produce a system suitable for in-vivo testing of 3 hepatic procedures: 1) assessment (staging) to locate and measure tumors; 2) Needle placement for biopsy/ablation; and 3) resection of small tumors. In each case, the goal is to combine the fundamental capabilities developed in Aim 1 with sufficient application-specific tooling and software to provide necessary clinically relevant context for development and to support the evaluations proposed in Aim 3. Specific Aim 3: Evaluate the effectiveness of the overall system and specific functions for hepatic surgery through in-vivo evaluations and ex vivo phantoms. A successful Phase II will provide the foundation of a product that will enable surgeons to perform US-guided hepatic procedures in a minimally invasive manner with the image quality and dexterity currently available with open laparotomies. This has the potential to reduce morbidity, and improve efficacy and efficiency for liver cancer treatment.

描述（由申请人提供）：该提案代表了涉及直觉手术系统和约翰·霍普金斯大学的STTR合作伙伴关系的第二阶段。第一阶段证明了将腹腔镜超声（LUS）能力整合到Davinci的可行性和希望。第二阶段将开发完整的集成应用环境，并为LUS引导肝手术进行测试式外科应用。我们的一般目标是在微创的环境中提供“开放”超声检查的图像质量和访问，同时还提高了外科医生进行超声引导程序的能力。 II期系统将对具有LUS功能的Davinci系统的潜力进行现实评估，并对开发功能的设计选择和权衡进行评估。第二阶段具有3个特定目标：特定目标1：发展LUS辅助机器人手术所需的功能能力。我们将扩展I阶段体系结构，以提高鲁棒性，灵活性和评估的适用性。其他功能增强功能包括铰接的机器人LU探针，原型活检和消融工具，“虚拟固定装置”以及改进的超声成像和靶向病变的半自动化行为，LUS可视化能力集成到Davinci用户界面中，以及其他功能与其他功能相互互动的功能，并将其与其他功能相互作用。特定目标2：生成用于LUS辅助肝手术的集成机器人系统。我们将结合这些功能，以生成适合3种肝手术的体内测试的系统：1）评估（分期）以定位和测量肿瘤； 2）放置活检/消融的针头； 3）切除小肿瘤。在每种情况下，目标是将AIM 1中开发的基本功能与足够的应用特异性工具和软件相结合，以提供必要的临床相关环境以进行开发，并支持AIM 3中提出的评估。特定目标3：评估整体系统的有效性和特定功能，通过视野内评估和EX VIVO和VIVO。成功的第二阶段将为产品提供基础，该产品将使外科医生能够以微创的方式使用开放性的Laparotomies使用的图像质量和灵巧性，以微创的方式进行我们的肝手术。这有可能降低发病率，并提高肝癌治疗的功效和效率。