NRI: Small: Magnetic Resonance Imaging Guided Co-Robotic Active Catheter System

NRI：小型：磁共振成像引导协作机器人主动导管系统

基本信息

批准号：
9116153
负责人：
M. Cenk Cavusoglu
金额：
$ 33.37万
依托单位：
CASE WESTERN RESERVE UNIVERSITY
依托单位国家：
美国
项目类别：
财政年份：
2013
资助国家：
美国
起止时间：
2013-08-15 至 2018-07-31
项目状态：
已结题

来源：
https://reporter.nih.gov/project-details/9116153
关键词：
Ablation Algorithms Anatomy Animals Atrial Fibrillation Blood flow Caliber Catheters Clinical Collaborations Collection Computer software Data Data Collection Data Set Development Electromagnetics Entropy Environment Feedback Functional Imaging Generations Health Human Image Imaging Techniques Imaging technology Individual Magnetic Resonance Imaging Mechanics Medical Imaging Methods Modeling Motion Movement Positioning Attribute Prevalence Principal Investigator Probability Procedures Process Research Robotics Scheme Speed Statistical Models Surface System Systems Integration Techniques Technology Testing Time Tissues Uncertainty Validation active control base cardiovascular visualization cost data acquisition design dynamic system heart imaging image guided image reconstruction imaging modality imaging system improved in vivo novel open source prototype reconstruction research study robot control signal processing validation studies

项目摘要

DESCRIPTION (provided by applicant): The purpose of the present study is the development of a co-robotic active catheter system for performing atrial fibrillation ablation under real-time intra-operative magnetic resonance imaging (MRI) guidance. The proposed research will synergistically integrate high-speed MRI technologies with robotic motion planning and control techniques to develop a novel co-robotic system. Specifically, the research will focus on i) development of new models, algorithms, and open source software for robotic motion planning and control of active catheter systems, ii) development of algorithms for achieving real-time intra-operative MRI acquisition and image reconstruction, and, iii) hardware realization and experimental validation of the developed technologies in benchtop and in vivo studies in collaboration with clinical partners. The intellectual merit of the proposed research comes from the scientific contributions to the individual fields of robotics and medical imaging as well a novl and synergistic integration of the two technologies. The research will advance the state-of-the-art in robotics, by pursuing robotic control, planning, and sensing algorithms that can not only handle the complicated state-space and system dynamics, but also the uncertainty about the state-space, often present in dynamic and deformable environments. The rapid MRI imaging methods developed here will allow real-time data collection and image reconstruction at a previously unattainable rate. They will enable rapid anatomical imaging of the heart, but also be relevant to other dynamic MRI applications besides cardiac imaging. This will be the first demonstration of a real-time guided MRI procedure where the anatomy and catheter can be completely visualized in real-time with clinical quality images. With this technology, further improvements in both interventional MRI as well as structural and functional imaging will be possible.

描述（由申请人提供）：本研究的目的是开发一种协作机器人主动导管系统，用于在实时术中磁共振成像（MRI）引导下进行心房颤动消融。拟议的研究将协同地将高速 MRI 技术与机器人运动规划和控制技术相结合，以开发一种新型的协作机器人系统。具体来说，该研究将重点关注 i) 开发用于机器人运动规划和主动导管系统控制的新模型、算法和开源软件，ii) 开发用于实现实时术中 MRI 采集和图像重建的算法， iii) 与临床合作伙伴合作在台式和体内研究中对已开发技术进行硬件实现和实验验证。拟议研究的智力价值来自于对机器人和医学成像各个领域的科学贡献以及这两种技术的新颖和协同整合。该研究将通过追求机器人控制、规划和传感算法来推进机器人技术的发展，这些算法不仅可以处理复杂的状态空间和系统动力学，而且还可以处理状态空间的不确定性，通常存在于动态和可变形的环境中。这里开发的快速 MRI 成像方法将允许以以前无法达到的速度进行实时数据收集和图像重建。它们不仅能够实现心脏的快速解剖成像，而且还与心脏成像以外的其他动态 MRI 应用相关。这将是实时引导 MRI 程序的首次演示，其中解剖结构和导管可以通过临床质量图像完全实时可视化。借助这项技术，介入 MRI 以及结构和功能成像的进一步改进将成为可能。