MRI-compatible concentric tube robot for intracerebral hemorrhage

用于脑出血的 MRI 兼容同心管机器人

• 批准号: 10531943
• 负责人: Yue Chen
• 金额: $ 53.85万
• 依托单位: CHILDREN'S RESEARCH INSTITUTE
• 依托单位国家: 美国
• 财政年份: 2020
• 资助国家: 美国
• 起止时间: 2020-12-15 至 2024-11-30
• 项目状态: 已结题
• 来源: https://reporter.nih.gov/project-details/10531943
• 关键词: Acute; Address; Algorithms; Biological; Blood; Blood coagulation; Brain; Brain Injuries; Cannulas; Cerebral hemisphere hemorrhage; Cerebrum; Cessation of life; Clinical; Data; Devices; Diffusion Magnetic Resonance Imaging; Edema; Electronics; Ensure; Environment; Excision; Feedback; Freedom; Goals; Hematoma; Hemorrhage; Hemostatic function; Heterogeneity; Hour; Image-Guided Surgery; Impairment; Inflammation; Infusion procedures; Intervention; Lobar; Magnetic Resonance; Magnetic Resonance Imaging; Medical; Medical center; Monitor; Motion; Neurons; Operative Surgical Procedures; Outcome; Pathology; Patients; Perfusion; Persons; Phase; Positioning Attribute; Procedures; Process; Property; Radiation; Randomized, Controlled Trials; Risk; Robot; Rupture; Safety; Saline; Scanning; Sheep; Structure; Surgeon; System; Techniques; Time; Tissues; Torque; Tube; Tumor Debulking; Validation; Visualization; Work; X-Ray Computed Tomography; animal data; aspirate; brain parenchyma; brain tissue; design; image guided; improved; innovation; minimally invasive; mortality; prototype; real-time images; robot control; success; tool; virtual; white matter; wireless; Acute; Address; Algorithms; Biological; Blood; Blood coagulation; Brain; Brain Injuries; Cannulas; Cerebral hemisphere hemorrhage; Cerebrum; Cessation of life; Clinical; Data; Devices; Diffusion Magnetic Resonance Imaging; Edema; Electronics; Ensure; Environment; Excision; Feedback; Freedom; Goals; Hematoma; Hemorrhage; Hemostatic function; Heterogeneity; Hour; Image-Guided Surgery; Impairment; Inflammation; Infusion procedures; Intervention; Lobar; Magnetic Resonance; Magnetic Resonance Imaging; Medical; Medical center; Monitor; Motion; Neurons; Operative Surgical Procedures; Outcome; Pathology; Patients; Perfusion; Persons; Phase; Positioning Attribute; Procedures; Process; Property; Radiation; Randomized, Controlled Trials; Risk; Robot; Rupture; Safety; Saline; Scanning; Sheep; Structure; Surgeon; System; Techniques; Time; Tissues; Torque; Tube; Tumor Debulking; Validation; Visualization; Work; X-Ray Computed Tomography; animal data; aspirate; brain parenchyma; brain tissue; design; image guided; improved; innovation; minimally invasive; mortality; prototype; real-time images; robot control; success; tool; virtual; white matter; wireless

ABSTRACT The objective of this proposal is to create and validate a minimally-invasive Magnetic Resonance (MR) - compatible concentric tube robot for Intracerebral Hemorrhage (ICH) evacuation. About 1 in 50 people suffer from ICH in their lifetime. ICH occurs when blood leaked from a ruptured vessel accumulates and forms a blood clot (hematoma) in the cerebrum. The 30-day mortality for ICH is about 40% with half of all deaths occurring in the acute phase, especially in the first 48 hours. Blood spilled outside of the intracranial vessels is toxic to surrounding neurons, causing inflammation and perihematomal edema seen as early as 12-24 hours after hemorrhage. These deleterious effects motivate emergent treatment to save at-risk brain tissue. We propose three specific aims as follows. Specific Aim 1: Create the Robot. We will optimize the current robot prototype design to construct a new, compact, and precise MRI-compatible robot to deploy the aspiration cannula within the MRI scanner. We will develop the robot path planning algorithm and embedded electronics to enable accurate robot control. Specific Aim 2: Enable Image Guidance. We will track the aspiration cannula in MRI space by integrating wireless MRI microcoils on the cannula. Real-time MRI will allow the surgeon to monitor the cannula position and hematoma-brain boundary during the procedure. We will create a navigation workstation to control the robot, enable treatment monitoring including diffusion tensor imaging, and provide a virtual boundary to enhance safety. Specific Aim 3: Experimental Validation. We will first characterize robot targeting accuracy and its path- following ability in the benchtop environment. We will then perform phantom studies in a 3T MRI scanner to evaluate system accuracy and optimize the navigation workstation. We will conclude with four sheep studies to evaluate the system with realistic tissue properties, perfusion, and other relevant biological effects. We will collect robot accuracy data, quantify hematoma evacuation percentage, and determine damage to healthy brain tissue.

抽象的 该提案的目的是创建和验证微创磁共振（MR） - 兼容的同心管机器人用于脑内出血（ICH）疏散。大约有50人中有1人受苦 来自ICH一生。当血液从破裂的血管中漏出并形成A时，就会发生ICH 大脑中的血凝块（血肿）。 ICH的30天死亡率约为40％，一半死亡的一半 发生在急性阶段，尤其是在最初的48小时内。颅内血管外的血液是 对周围的神经元有毒，引起炎症和近日围血水肿，早期为12-24小时 出血后。这些有害影响激发了紧急治疗以节省高危脑组织。我们 提出三个特定目标如下。 特定目标1：创建机器人。我们将优化当前的机器人原型设计，以构建一个新的， 紧凑而精确的MRI兼容机器人在MRI扫描仪内部部署吸气套管。我们将 开发机器人路径计划算法和嵌入式电子设备，以实现精确的机器人控制。 特定目标2：启用图像指导。我们将通过整合MRI空间中的吸气套管 套管上的无线MRI微型机油。实时MRI将允许外科医生监视套管的位置 手术过程中的血脑瘤 - 脑边界。我们将创建一个导航工作站，以控制 机器人，启用治疗监测，包括扩散张量成像，并为 提高安全性。 特定目标3：实验验证。我们将首先表征机器人靶向准确性及其路径的特征 在台式环境中以下能力。然后，我们将在3T MRI扫描仪中进行幻影研究 评估系统准确性并优化导航工作站。我们将以四个绵羊研究结束 用逼真的组织特性，灌注和其他相关生物学作用评估系统。我们将 收集机器人精度数据，量化血肿疏散百分比并确定健康的损害 脑组织。