Smart Needle with Intelligent Robotic Control for Prostate Brachytherapy

用于前列腺近距离治疗的智能机器人控制智能针

基本信息

批准号：
10627946
负责人：
Bardia Konh
金额：
$ 17.87万
依托单位：
UNIVERSITY OF HAWAII AT MANOA
依托单位国家：
美国
项目类别：
财政年份：
2021
资助国家：
美国
起止时间：
2021-09-01 至 2025-05-31
项目状态：
未结题

来源：
https://reporter.nih.gov/project-details/10627946
关键词：
3-Dimensional 3D Print Adoption Algorithms Biopsy Bladder Brachytherapy Cadaver Calibration Cancer Intervention Cancerous Cells Characteristics Clinical Collaborations Compensation Computer Models Development Devices Diagnosis Dislocations Dose Drug Delivery Systems Dysuria Edema Effectiveness Electromagnetics Endowment Exclusion Feedback Goals Healthcare Human Imaging Device Implant Incontinence Intelligence Intuition Location Malignant Neoplasms Malignant neoplasm of prostate Manuals Mechanics Methods Modality Modeling Modernization Motion Movement Needles Operative Surgical Procedures Organ Outcome PUVA Photochemotherapy Pain Patients Performance Physicians Positioning Attribute Procedures Property Prostate Radiation Radioactive Radioactive Seed Implantation Raman Spectrum Analysis Rectum Reporting Research Resected Robot Robotics Seed Implantation Shapes Source Structure Surgeon System Techniques Therapeutic Intervention Therapeutic procedure Thermal Ablation Therapy Tissue Model Tissues Toxic effect Translating Treatment Failure Ulcer Uncertainty Update Urethra Urination Viral Work cost design dosage dynamic system experience eye hand coordination fabrication flexibility gene therapy human error improved in vivo innovation instrument instrumentation kinematics manufacture minimally invasive novel predictive modeling rectal response robot control robotic system sensor side effect skills success teleoperation trend ultrasound urinary

项目摘要

PROJECT SUMMARY/ABSTRACT Brachytherapy procedure is one of the most popular treatment modalities for prostate cancer where cancerous cells are irradiated and destroyed locally by the radioactive dosage of seeds implanted by the surgeon. The success of brachytherapy heavily relies on safe and precise placement of the seeds in or adjacent to the cancerous cells. The procedure demands a very experienced surgeon who have developed an intuitive feel in needle insertions and is able to guide the needle into a desired location with hand-eye coordination and assistance of an imaging device. However, with conventional rigid needles, only a straight path is achievable towards the target, and thereby seed placements require several insertions with a high tissue damage on the needle’s path. A recent study has shown that guiding the needle in a curvilinear approach will decrease the number of needle insertions required and provide other dosimetric benefits. Lack of actuation and control (after the needle is inserted into the patient’s body) is another factor that make the procedure challenging. A flexible 3D steerable “smart” needle with multi-directional actuation and a reliable guidance control and guidance can aid the surgeon to perform the task with more accuracy, reduced invasiveness, and in a curvilinear approach. Furthermore, teleoperative guidance for the smart needle will endow the robotic instrument with intelligence. On the other hand, in-depth understanding of the needle-tissue interaction mechanism (with intraoperative model parameter updates and shape- and force-sensing) is a key factor in development of an appropriate control and guidance strategies to compensate for system uncertainties. This work will first develop an active “smart” brachytherapy needle that will provide robust actuation, shape- and force-sensing, and 3D motion in tissue. Then a teleoperative interface with robot-driven smart needle will be developed to perform semi- automated brachytherapy. Realistic analytical and computational models of needle-tissue interactions will be developed using realistic tissue characteristics. These models will be used in the control system as dynamic models to make appropriate decisions during an insertion task. The innovative features of our proposed methods rely on our cutting-edge smart needle design, new dynamic models, shape- and force-sensing, and control algorithm specifically developed for this application. The present studies will develop a clinically acceptable size “smart” surgical needle with a robotic control interface and evaluate its impact in brachytherapy procedure. Utilization of active and passive flexible needles for diagnosis and therapeutic procedures is a rapidly advancing filed. This proposed research has a high potential to lead to a revolutionary needle insertion practice in healthcare that is also beneficial to various needle-based procedures such as drug delivery, biopsy, and interventional therapy where an accurate placement is needed with minimal tissue damage.

项目摘要/摘要近距离放射疗法是前列腺癌最流行的治疗方式之一，癌细胞是由外科医生植入的种子的放射性剂量在本地辐照和破坏。近距离放射治疗的成功在很大程度上依赖于在取消细胞中或附近种子的安全，精确的放置。该程序需要经验丰富的外科医生在针头插入中发展了直观的感觉，并且能够将针头引导到带有手眼协调和成像设备的帮助的所需位置。但是，使用常规的刚性针，只有一条直径可以实现目标，因此种子放置需要几个插入针路损坏针路的路径。最近的一项研究表明，在曲线方法中引导针将减少需要的针头插入数量，并提供其他剂量学益处。缺乏驱动和控制（之后针头插入患者的身体）是导致手术挑战的另一个因素。一个灵活的3D可通道具有多向激活以及可靠的指导控制和指导的“智能”针可以帮助外科医生执行该任务的准确性更高，侵入性降低以及曲线性方法。此外，远程手术指导智能针将智能赋予机器人仪器。另一方面，对针线组织的相互作用机制（具有术中模型参数更新以及形状和力传感）是关键开发适当控制和指导策略以弥补系统不确定性的因素。这项工作将首先开发一个活跃的“智能”近距离透明针针，将提供强大的致动，形状和力感密度，并且组织中的3D运动。然后，将开发具有机器人驱动的智能针的远程手术接口，以执行半自动近距离放射治疗。将开发针对针 - 组织相互作用的现实分析和计算模型使用逼真的组织特征。这些模型将在控制系统中用作动态模型，以使其适当插入任务期间的决策。我们提出的方法的创新特征依赖于我们的尖端智能针头设计，新的动态模型，形状和力传感以及专门为此应用开发的控制算法。本研究将通过机器人控制界面和评估其在近距离放射治疗过程中的影响。利用主动和被动的灵活针对诊断和治疗程序是迅速提出的。这项拟议的研究具有引人革命性的高潜力医疗保健中的针插入实践也对基于针头的各种程序，例如药物输送，活检和介入治疗，其中需要精确的放置，而组织损伤最小。

项目成果

期刊论文数量（7）

专著数量（0）

科研奖励数量（0）

会议论文数量（0）

专利数量（0）

A Model to Predict Deflection of an Active Tendon-Driven Notched Needle Inside Soft Tissue.

预测软组织内活动肌腱驱动缺口针偏转的模型。

DOI：
10.1115/1.4063205
发表时间：
2024
期刊：
Journal of engineering and science in medical diagnostics and therapy
影响因子：
0
作者：
Padasdao,Blayton;Konh,Bardia
通讯作者：
Konh,Bardia

Steering a Tendon-Driven Needle in High-Dose-Rate Prostate Brachytherapy for Patients with Pubic Arch Interference.

DOI：
10.1109/ismr48346.2021.9661565
发表时间：
2021-11
期刊：
... International Symposium on Medical Robotics. International Symposium on Medical Robotics
影响因子：
0
作者：
Konh, Bardia;Padasdao, Blayton;Batsaikhan, Zolboo;Lederer, John
通讯作者：
Lederer, John

Kinematics modelling and dynamics analysis of an SMA-actuated active flexible needle for feedback-controlled manipulation in phantom.

DOI：
10.1016/j.medengphy.2022.103846
发表时间：
2022-09
期刊：
MEDICAL ENGINEERING & PHYSICS
影响因子：
2.2
作者：
Karimi, Saeed;Konh, Bardia
通讯作者：
Konh, Bardia

HDR Brachytherapy Planning using Active Needles - Preliminary Investigation on Dose Planning.

使用主动针进行 HDR 近距离放射治疗规划 - 剂量规划的初步调查。

DOI：
10.1109/biorob52689.2022.9925426
发表时间：
2022
期刊：
Proceedings of the ... IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics. IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics
影响因子：
0
作者：
Rabiei,Mahsa;Ko,SeongYoung;Podder,TarunK;Lederer,John;Konh,Bardia
通讯作者：
Konh,Bardia

Modeling and Operator Control of a Robotic Tool for Bidirectional Manipulation in Targeted Prostate Biopsy.

用于靶向前列腺活检双向操作的机器人工具的建模和操作员控制。

DOI：
10.1109/ismr48347.2022.9807514
发表时间：
2022
期刊：
... International Symposium on Medical Robotics. International Symposium on Medical Robotics
影响因子：
0
作者：
Padasdao,Blayton;Batsaikhan,Zolboo;Lafreniere,Samuel;Rabiei,Mahsa;Konh,Bardia
通讯作者：
Konh,Bardia