Robotically Assisted Mouse Interventions

机器人辅助鼠标干预

• 批准号: 7325623
• 负责人: Kevin R. Cleary
• 金额: $ 19.97万
• 依托单位: ASI INSTRUMENTS, INC
• 依托单位国家: 美国
• 财政年份: 2007
• 资助国家: 美国
• 起止时间: 2007-09-30 至 2009-09-29
• 项目状态: 已结题
• 来源: https://reporter.nih.gov/project-details/7325623
• 关键词: Anatomy; Animal Technicians; Animals; Area; Austria; Biopsy; Businesses; Cancer Patient; Collaborations; Disease Management; Doctor of Philosophy; Engineering; Feasibility Studies; Fingers; Histopathology; Image; Information Systems; Injection of therapeutic agent; Intervention; Laboratories; Magnetic Resonance Imaging; Mechanics; Medical; Medical Technology; Methods; Modeling; Monitor; Mus; Needles; Neurosciences; PET/CT scan; Pharmacologic Substance; Phase; Physicians; Procedures; Radiation; Research; Research Personnel; Robot; Robotics; Science; Secure; System; Techniques; Universities; Work; base; cancer therapy; concept; design; experience; instrument; molecular imaging; mouse model; response; software development; tool; tumor; tumor growth

DESCRIPTION (provided by applicant): Monitoring the effects of pharmaceutical or radiation intervention in cancer patients is an important tool in the management of disease. Current methods for monitoring tumor response to therapy using imaging include CT and PET scanning. Emerging methods include functional and molecular imaging. In addition to the use of imaging to visually assess tumor growth, a physician may biopsy the tumor to assess the tumor response via histopathology. Mouse models are increasingly used in the study of possible cancer treatments and these same imaging/biopsy techniques are often used in mouse models. The ability to biopsy the mouse based on an imaging study and to perform repeat biopsies in the same region of the mouse would enable more accurate and repeatable mouse studies. Therefore, in the proposal we plan to develop a robotic system for biopsy and related needle procedures in mice, based on MR images. The robotic system will allow for targeting of the anatomy from our small animal MR scanner, and will include a specialized mouse holder for securing the animal. For the robotic system to be able to perform these procedures, the animal must be securely restrained in an animal holder. In addition, the area to be biopsied must be firmly held in some manner, much like the area is held by the fingers of an experienced animal technician. Therefore, we also propose to develop a new mouse holder as part of this work. The specific aims are therefore: 1. Develop a mouse holder to restrain the animal and expose the flank for biopsy and/or injection. Integrate an existing robotic needle driver with the mouse holder on the same platform. 2. Manufacture a new needle holder for the robot and develop the software to command the robot from small animal MRI images for precision needle guidance. 3. Perform a feasibility study using 10 mice to demonstrate the ability of the robot to biopsy the mouse flank as selected on the MRI images and evaluate the accuracy of the system.

描述（由申请人提供）：监测药物或放射干预对癌症患者的影响是疾病管理的重要工具。目前使用成像监测肿瘤对治疗的反应的方法包括 CT 和 PET 扫描。新兴方法包括功能成像和分子成像。除了使用成像来视觉评估肿瘤生长之外，医生还可以对肿瘤进行活组织检查，以通过组织病理学评估肿瘤反应。小鼠模型越来越多地用于可能的癌症治疗的研究，并且这些相同的成像/活检技术也经常用于小鼠模型。基于成像研究对小鼠进行活检并在小鼠同一区域进行重复活检的能力将使小鼠研究更加准确和可重复。因此，在提案中，我们计划开发一种基于 MR 图像的机器人系统，用于小鼠活检和相关针刺手术。该机器人系统将允许通过我们的小动物 MR 扫描仪瞄准解剖结构，并将包括一个用于固定动物的专用鼠标支架。为了使机器人系统能够执行这些程序，动物必须被牢固地限制在动物支架中。此外，必须以某种方式牢固地握住待活检区域，就像经验丰富的动物技术人员的手指握住该区域一样。因此，我们还建议开发一种新的鼠标支架作为这项工作的一部分。因此，具体目标是： 1. 开发一种鼠标支架来约束动物并暴露侧腹以进行活检和/或注射。将现有的机器人针驱动器与鼠标支架集成在同一平台上。 2. 为机器人制造新型持针器，并开发软件，通过小动物 MRI 图像命令机器人进行精确的针引导。 3. 使用 10 只小鼠进行可行性研究，以证明机器人能够对 MRI 图像上选择的小鼠侧腹进行活检，并评估系统的准确性。