VINE Catheter: Soft, Tip-extending, Robotic Catheters with Shape Control for Endovascular Surgery

VINE 导管：用于血管内手术的具有形状控制功能的柔软、尖端延伸的机器人导管

• 批准号: 10522892
• 负责人: Tania Kiyoye Morimoto
• 金额: $ 45.74万
• 依托单位: UNIVERSITY OF CALIFORNIA, SAN DIEGO
• 依托单位国家: 美国
• 财政年份: 2022
• 资助国家: 美国
• 起止时间: 2022-09-30 至 2026-06-30
• 项目状态: 未结题
• 来源: https://reporter.nih.gov/project-details/10522892
• 关键词: Acute; Address; Anatomy; Aneurysm; Animal Model; Arteries; Autopsy; Behavior; Blood Substitutes; Blood Vessels; Blood coagulation; Brain Diseases; Caring; Catheterization; Catheters; Clinical; Complex; Coronary Arteriosclerosis; Data; Disease; Distal; Endothelium; Environment; Equipment; Exhibits; Face; Family suidae; Goals; Growth; Heart Diseases; Histologic; Inguinal region; Injury; Lead; Liquid substance; Liver diseases; Location; Manuals; Methods; Minimally Invasive Surgical Procedures; Modeling; Movement; Operative Surgical Procedures; Outcome; Patient imaging; Patients; Plants; Procedures; Public Health; Recovery; Research; Robotics; Rotation; Safety; Shapes; Side; Silicones; Specialist; Stroke; Structure; Surgeon; System; Techniques; Tendon structure; Testing; Thrombectomy; Time; Training; Travel; Vascular Diseases; Work; X-Ray Computed Tomography; arm; base; design; high risk; improved; improved outcome; in vivo; innovation; instrument; man; minimally invasive; mortality; older patient; operation; pressure; renal artery; robotic system; success; tool; vascular injury

PROJECT SUMMARY Endovascular surgeries (ES) increasingly augment or replace traditional open surgical treatment of brain, liver, heart, and vascular diseases due to their improved clinical outcomes, faster recovery times, and improved mor- tality rates. These surgeries are commonly performed by inserting endovascular equipment into the groin or arm and navigating to distal arteries through a combination of axial loading and rotation of the base of the tools, utilizing the curved tips to deflect into intended locations and vessels. Despite the many benefits of endovascular surgeries, vascular anatomy, particularly for elderly patients who represent a large portion of those undergoing such procedures, can demonstrate excessive tortuosity and severe angulation, leading to high-risk , time-intensive procedures that can only be performed by a select number of expertly trained specialists. The small number of specialists results in limited access to necessary treatment, and patients are forced to either wait and travel for treatment or to not receive treatment at all. There is therefore a critical need for new endovascular robotic surgical tools that are safe, e↵ective, and that enable more surgeons to successfully navigate challenging anatomies. To address this need, a new soft-robotic approach called VINE – Vascular Internal Navigation by Extension – will be used. When pressurized with fluid, these VINEs navigate via extension at their tip in a man- ner analogous to how plants grow, creating shapes with complex curvatures. These VINEs are inherently safer due to their soft structure and represent a fundamentally di↵erent method of movement. The overall objective of this work is to characterize the behavior and refine the design of the VINE for ES, including the shape control methods, and to validate its e"cacy and safety. The central hypothesis is that this new method of shape control and navigation via tip-extension enables VINEs to safely and e↵ectively traverse the vasculature. The central hypothesis will be tested by pursuing three specific aims: (1) characterize and refine small-scale, pre-shaped and steerable VINE designs for ES, (2) evaluate VINE e"cacy in bench-top models, and (3) validate the safety of the entire VINE system in an in vivo pig study. This work will serve as a first step towards achieving the long-term goal of creating a soft robotic catheterization system, operable by a large number of surgeons, to increase access to high-quality surgical treatment. This work is innovative in that the proposed VINE is the first everting, robotic catheter with shape control and represents a substantive departure from the status quo, which currently relies on pushing semi-rigid instruments from their proximal end. The expected contribution of this work is a preliminary soft, tip-extending robotic system capable of safely and e↵ectively navigating around acute turns and through winding paths of the vasculature, which is significant since it will ultimately lead to increased access to high-quality minimally invasive procedures.

项目摘要 血管内手术（ES）越来越增强或取代传统的大脑，肝脏，肝脏，肝脏的开放式手术信任。 由于其改善的临床结果，更快的恢复时间和改善的临床结果，心脏和血管疾病 这些手术通常是通过将血管内设备插入腹股沟或手臂的 并通过轴向载荷和工具底座旋转的结合到远端人工 尽管有很多好处，但利用弯曲的尖端来反映预期的位置和容器。 手术，血管解剖结构，特别是代表大部分接受的老年患者 这样的程序可以表现出过度的曲折和断裂，导致高风险，时间密集型 只能由少数专业的专家执行的程序 专家的中断导致有限的领口库，并且患者可以旅行。 为了治疗或完全不接受治疗。 安全，效果的外科手术工具，并使更多的外科医生能够成功地导致挑战性解剖学。 为了满足这一需求，一种新的软射击方法，称为葡萄血血管内部导航 扩展 - 将使用流体预售时，通过伸展 植物如何生长，用复杂的曲线形成。 由于它们的软结构，代表了运动的基本方法。 这项工作是为了表征行为并重新确定葡萄藤的设计，包括形状控制 方法，并且要验证是“ cacy and Safety。中心假设是这种新的形状控制方法 通过尖端延伸，葡萄藤可以安全地横穿管西。 假设将通过追求三个特定目的来检验：（1）表征和重新定义小规模，预状态和 ES的可通藤设计，（2）评估藤蔓模型中的葡萄藤，（3）验证您的安全性 整个葡萄藤在体内猪研究中。 创建一个可通过大量外科医生操作的软机器人导管系统的目标，以增加访问 进行高质量的手术治疗。 这项工作具有创新性，因为支撑的葡萄藤是第一个持久的，机器人导管，具有形状控制和 压抑者与现状具有实质性的偏差，该现状目前依赖于推动半刚性仪器 从他们的近端开始。 能够安全和e显地导航在急性转弯，虽然血管的缠绕路径， 这是显着的，因为它将大大增加获得高质量的最低侵入性程序的机会。