Robotic System with Multiplexed DOF Control for Minimally Invasive Interventions

用于微创干预的具有多自由度控制的机器人系统

• 批准号: 8253123
• 负责人: Everette C Burdette
• 金额: $ 22.07万
• 依托单位: ACOUSTIC MEDSYSTEMS, INC.
• 依托单位国家: 美国
• 财政年份: 2012
• 资助国家: 美国
• 起止时间: 2012-06-01 至 2014-05-31
• 项目状态: 已结题
• 来源: https://reporter.nih.gov/project-details/8253123
• 关键词: Ablation; Acoustics; Address; Agriculture; Application procedure; Area; Automation; Biopsy; Brachytherapy; Brain; Breast; Breathing; Catheters; Cerebral hemisphere hemorrhage; Clinical; Computer software; Controlled Environment; Deposition; Development; Devices; Diagnosis; Diagnostic; Diagnostic Procedure; Electronics; Engineering; Ensure; Evaluation; Exhibits; Fiber Optics; Financial compensation; Fluoroscopy; Freedom; Goals; Human body; Image; Injection of therapeutic agent; Intervention; Kidney; Laboratories; Liquid substance; Liver; Localized Disease; Location; Magnetic Resonance Imaging; Manuals; Medical; Medical Research; Medicine; Membrane; Modeling; Motion; Motor; Needles; Operative Surgical Procedures; Particulate; Patients; Phase; Positioning Attribute; Procedures; Prostate; Radioactive Seed Implantation; Research; Research Project Grants; Risk; Robot; Robotics; Safety; Site; Small Business Innovation Research Grant; Surgeon; System; Techniques; Testing; Therapeutic; Therapeutic Agents; Therapeutic procedure; Tissues; Treatment Efficacy; Ultrasonic Therapy; Ultrasonography; Universities; Validation; Vertebral column; Work; arm; base; cost; design; diagnostic accuracy; experience; improved; innovation; meter; minimally invasive; programs; research study; robotic device; sensor; software systems; tool; transmission process

DESCRIPTION (provided by applicant): Acoustic MedSystems proposes to develop an image-guided robot for MRI, CT and fluoroscopy guidance. The robot will be used for brain, prostate, liver, kidney, breast, and spine intervention. A general purpose robotic manipulator will be designed with development and implementation of a specific configuration for interventional medical biopsy and treatment use. The proposed program represents an innovation in clinical robotic interventions in several ways. It includes a cable-controlled drive and gear assembly linkage, so that actuators can be displaced from the robot motors and controller as much as several meters. Fiber-optic position sensors eliminate all electronics for sensing from the robot. These design innovations will make it possible to build small, purpose-specific robots. Although our proposed new robotic design and implementation is very well-suited to medical interventions, the concept is useful for a broad range of applications extending well beyond this initial application area. Multiple applications of the proposed single drive, multiple DOF robots can benefit from applying this concept and using possible standardized components that may be implemented with it. AMS is engaged in multiple medical research projects that include medical robots, and hence has become aware of many complications of using robots in clinical settings. We have a developed a conceptual approach for a robotic drive system that addresses these clinical issues, while also offering other design benefits and possible cost and size reductions for medical and non-medical robotics applications. PUBLIC HEALTH RELEVANCE: Minimally-invasive procedures are pervasive in medicine and further, needles and catheters are among the least invasive vehicles for accessing the interior of the human body. They can be used for diagnoses (e.g. biopsy), as well as interventions (e.g. injection of liquid therapeutic agents, insertion of surgical tools, radioactive seed implantation, thermal therapy, etc.). Accuracy in targeting the desired location is essential in nearly all procedures to ensure therapeutic or diagnostic efficacy and safety. It has been well-established that image-guided robotic devices are useful for aligning tools accurately with preoperatively planned insertion trajectories. A single robotic insertion has been shown to exhibit approximately half the error of a manual insertion by an experienced surgeon under Ultrasound guidance. However, initial robotic alignment of the device toward its target can never completely eliminate tip placement error, because there is no means of compensation for registration error (which can never be completely eliminated) or perturbations that occur during insertion, including tissue deformation, patient motion, breathing, deflection of a needle at membrane boundaries, etc. Furthermore, there are some locations that are inaccessible to straight-line trajectories (e.g. the pubic arch can obstruct a portion of the prostate in some patients during brachytherapy). These factors have motivated the recent development of steerable needles and surgical tools, and many mechanisms for steering have been proposed. To date, research has focused on tip placement accuracy assessment and model validation, which are necessary first steps toward interventional and diagnostic goals. However, inherent technical difficulties in existing systems have limited the efficacy and application of procedures, namely, 1) lack of adequate image guidance and 2) inadequate control of placement. Furthermore a third and very important issue is that in many cases, site access is limited, making the need for remote device control and location of drive mechanisms (motors, etc.) of paramount importance. The goal of this project is to address these three limitations by creating a system that combines a proprietary general purpose multi-degree-of-freedom precisely controllable robotic mechanism with e3D spatial tracking and image guidance. The proposed integrated robotic system will enable highly accurate tool placement and provide greater control at the target site. Compared to existing percutaneous techniques, this system could improve diagnostic accuracy, treatment efficacy, limit the risks of complications, and enable treatment in those patients who otherwise would have been precluded from the procedure.

描述（由申请人提供）：声学系统提议为MRI，CT和荧光镜检查指导开发图像引导的机器人。该机器人将用于大脑，前列腺，肝，肾脏，乳房和脊柱干预。通用机器人操纵器将设计用于开发和实施特定的介入医疗活检和治疗用途的配置。提出的计划以多种方式代表了临床机器人干预的创新。它包括电缆控制的驱动器和齿轮组件链接，以便执行器可以从机器人电动机和控制器中移动多达几米。光纤位置传感器消除了从机器人传感的所有电子设备。这些设计创新将使建造小型，特定特定的机器人成为可能。尽管我们提出的新机器人设计和实施非常适合医疗干预措施，但该概念对于广泛的应用程序范围远远超出了最初的应用领域很有用。提出的单个驱动器的多个应用程序，多个DOF机器人可以通过应用此概念并使用可能与之实现的标准组件受益。 AMS从事包括医疗机器人在内的多个医学研究项目，因此已经意识到在临床环境中使用机器人的许多并发症。我们为机器人驱动器系统开发了一种概念方法，该方法解决了这些临床问题，同时还为医学和非医学机器人技术应用提供了其他设计优势以及可能的成本和尺寸降低。 公共卫生相关性：最少的侵入性程序在医学方面普遍存在，进一步，针和导管是进入人体内部的最不可侵犯的工具。它们可用于诊断（例如活检）以及干预措施（例如注射液体治疗剂，手术工具的插入，放射性种子植入，热治疗等）。对于确保治疗或诊断功效和安全性的几乎所有程序中，至关重要的是目标位置的准确性至关重要。已经有很好的建立的是，图像引导的机器人设备可用于与术前计划的插入轨迹准确对齐工具。在超声指导下，经验丰富的外科医生显示了一个机器人插入大约显示手动插入的误差的一半。但是，设备朝目标的初始机器人对准永远无法完全消除小费的放置错误，因为没有补偿赔偿手段，因为注册误差（永远无法完全消除）或在插入过程中发生的扰动，包括组织变形，患者运动，呼吸，在膜上的呼吸等于某些位置等，在某些位置，是在某些位置的偏移。在近距离放射治疗期间，某些患者的拱门会阻塞一部分前列腺）。这些因素激发了最近的可进入针头和手术工具的开发，并提出了许多转向机制。迄今为止，研究集中于小费放置精度评估和模型验证，这是介入和诊断目标的必要第一步。但是，现有系统的固有技术困难限制了程序的功效和应用，即1）缺乏足够的图像指导和2）对安置的控制不足。此外，第三个也是非常重要的问题是，在许多情况下，站点访问受到限制，因此需要远程设备控制和驱动机构的位置（电动机等）的位置至关重要。该项目的目的是通过创建一个结合专有通用的多度自由度精确控制机器人机制和E3D空间跟踪和图像指导的系统来解决这三个限制。拟议的集成机器人系统将实现高度准确的工具放置，并在目标部位提供更大的控制。与现有的经皮技术相比，该系统可以提高诊断准确性，治疗效率，限制并发症的风险，并使那些本来将被排除在手术中的患者进行治疗。