A Biomimetic Flexible Soft Tissue Probe for Computer Assisted Minimally Invasive Intervention

用于计算机辅助微创干预的仿生柔性软组织探头

基本信息

批准号：
EP/E040918/1
负责人：
Ferdinando Rodriguez Y Baena
金额：
$ 27.83万
依托单位：
Imperial College London
依托单位国家：
英国
项目类别：
Research Grant
财政年份：
2007
资助国家：
英国
起止时间：
2007 至无数据
项目状态：
已结题

来源：
https://gtr.ukri.org/projects?ref=EP%2FE040918%2F1
关键词：
Biomimetic Flexible Soft Tissue Probe

项目摘要

The proposed research involves the design and proof of concept of a biomimetic soft tissue probe, inspired by the ovipositor of a wood-boring wasp, with an application to computer assisted brain biopsy. The probe will be able to be steered along curved paths within the body, but in contrast to the wood wasp's ovipositor, will displace the tissue (e.g. syringe needle) rather than removing it (e.g. drilling). In essence, the biomimetic probe will enable a hollow tube to be inserted deep into soft tissue accurately, without the need to exploit a natural orifice, for use in any number of minimally invasive procedures. This feasibility study will focus on three aspects: probe design, actuation, and control. It will also lay the foundation for the further development of an intelligent probe where the insertion process is guided interactively by pre-operative image data, allowing deep lesions of the brain and other regions of the human body to be accessed with greater accuracy and repeatability. Operative complications due to non-diagnosis and post-operative haemorrhaging could also be reduced through precise pre-operative planning of the probe's insertion and target points i.e. through the planning of a suitable trajectory that would minimise the distance between the two, whilst avoiding major veins, arteries, nerves and other vital structures. The planned procedure would be executed in the operating theatre by the flexible probe under computer assistance.The proposed project will comprise three main components:1) The design of a flexible probe capable of smooth three-dimensional motion through soft tissue.2) The design of an actuation mechanism and control strategy to drive the probe.3) The integration of the probe and the actuation mechanism into a fully functional system suitable for in vitro experimentation on synthetic soft tissue specimen.The probe design will essentially be composed of a two-part thin biopsy probe (1mm-3mm diameter, approximately 40cm in length), with the reciprocating motion of the two halves driving the head into the tissue without the need for any external force applied at the base; the drive unit, composed of three actuators, plus control software and hardware; a graphical interface for progress monitoring and user interaction; and, optionally, a tracking device (e.g. the magnetic tracker) to monitor the position of the probe head in real-time. This will require an investigation into suitable materials, surface coatings and surface topographies to minimise the impact that inserting the probe would have on the surrounding tissue. Further research will also be needed on the development of suitable probe actuation methods, in order to avoid any tissue damage, and control strategies, for automatic targeting and obstacle avoidance.

拟议的研究涉及仿生软组织探针的设计和证明，这是受木钻黄蜂的产卵剂的启发，并应用了计算机辅助脑活检。探针将能够沿着体内的弯曲路径进行转动，但与木黄蜂的卵形剂相比，将置换组织（例如注射器针），而不是将其移除（例如钻孔）。从本质上讲，仿生探针将使一个空心管准确地插入软组织中，而无需利用天然孔口，以便在任何数量的微创手术中使用。这项可行性研究将集中在三个方面：探针设计，驱动和控制。它还将为智能探针的进一步发展奠定基础，在该探针中，插入过程通过术前图像数据进行了交互引导，从而使大脑和人体的其他区域的深层病变能够以更高的准确性和重复性来访问。由于非诊断和术后出血引起的手术并发症，也可以通过精确的术前计划探针的插入和目标点来减少，即通过计划合适的轨迹，以最大程度地减少两者之间的距离，同时避免避免主要静脉，动脉，神经，神经和其他重要结构。计划的程序将在计算机辅助下的灵活探测器在操作剧院中执行。拟议的项目将构成三个主要组成部分：1）设计柔性探针的设计，能够通过软组织平滑三维运动。2）设计动力机制和控制策略的设计，以驱动探针的启动系统。样品设计基本上将由两部分的薄型活检探针（直径为1mm-3mm，长度约40厘米）组成，两半的往复运动将头部驱动到组织中，而无需在底座上施加任何外部力；由三个执行器组成的驱动器单元，以及控制软件和硬件；用于进度监视和用户交互的图形接口；而且，可选的是跟踪设备（例如磁跟踪器），以实时监视探针头的位置。这将需要对合适的材料，表面涂层和表面地形进行研究，以最大程度地减少插入探针对周围组织的影响。为了避免任何组织损伤和控制策略，以自动靶向和避免障碍物，还需要进一步研究开发合适的探测驱动方法。

项目成果

期刊论文数量（10）

专著数量（0）

科研奖励数量（0）

会议论文数量（0）

专利数量（0）

Design Optimisation of a Biologically Inspired Multi-Part Probe for Soft Tissue Surgery

用于软组织手术的仿生多部分探针的设计优化

DOI：
发表时间：
2009
期刊：
影响因子：
0
作者：
Ferdinando Rodriguez Y Baena
通讯作者：
Ferdinando Rodriguez Y Baena

Tissue deformation analysis using a laser based digital image correlation technique.

使用基于激光的数字图像相关技术进行组织变形分析。

DOI：
10.1016/j.jmbbm.2011.10.007
发表时间：
2012
期刊：
Journal of the mechanical behavior of biomedical materials
影响因子：
3.9
作者：
Kerl J
通讯作者：
Kerl J

Risk-Based Path Planning for a Steerable Flexible Probe for Neurosurgical Intervention

DOI：
10.1109/biorob.2012.6290859
发表时间：
2012-01-01
期刊：
2012 4TH IEEE RAS & EMBS INTERNATIONAL CONFERENCE ON BIOMEDICAL ROBOTICS AND BIOMECHATRONICS (BIOROB)
影响因子：
0
作者：
Caborni, Chiara;Ko, Seong Young;Rodriguez y Baena, Ferdinando
通讯作者：
Rodriguez y Baena, Ferdinando

Experimental Characterisation of a Biologically Inspired 3D Steering Needle

DOI：
10.1109/iccas.2013.6704141
发表时间：
2013-01-01
期刊：
2013 13TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND SYSTEMS (ICCAS 2013)
影响因子：
0
作者：
Burrows, Christopher;Secoli, Riccardo;Rodriguez y Baena, Ferdinando
通讯作者：
Rodriguez y Baena, Ferdinando

Biologically inspired microtexturing: investigation into the surface topography of next-generation neurosurgical probes.

受生物学启发的微纹理：对下一代神经外科探针的表面形貌的研究。