Targeted robotic and Optical Coherence Tomography mediated laser ablation for biomedical and machining application

用于生物医学和加工应用的靶向机器人和光学相干断层扫描介导的激光烧蚀

• 批准号: RGPIN-2020-05797
• 负责人: Yang, Victor
• 金额: $ 2.84万
• 依托单位: Ryerson University
• 依托单位国家: 加拿大
• 项目类别: Discovery Grants Program - Individual
• 财政年份: 2021
• 资助国家: 加拿大
• 起止时间: 2021-01-01 至 2022-12-31
• 项目状态: 已结题
• 来源: https://www.nserc-crsng.gc.ca/ase-oro/Details-Detailles_eng.asp?id=740834
• 关键词: Targeted; robotic; Optical; Coherence; Tomography

Precision robotics have shown great promise for use in both biomedical and manufacturing contexts, particularly with regards to precision surgical techniques for neurosurgery, and in ablation systems for template-free micromachining; however, significant hurdles still exist in both the macro and micro-guidance and feedback control. The use of optical systems, including Optical Coherence Tomography (OCT) and Optical Topographical Imaging (OTI), represent a unique opportunity to allow for direct and continuous feedback to robotic systems at levels of precision not previously possible. OCT has the potential to be combined with laser systems either through inline integration for fiber lasers or at system output in the optical payload, thus allowing for direct monitoring and enabling possible feedback control of the ablation process. OCT can also be used for surface and subsurface characterization and targeting - particularly useful for custom ablation or directed targeting. OTI can allow for rapid and efficient large volume imaging, and when combined with infrared-based tracking, can enable real-time machine-vision image guidance. Finally, recent developments in large-volume OCT could allow for fusion of OTI and OCT data, providing further opportunities to expand functionality. Objectives include: 1) Developing OCT-controlled laser ablation systems for ablation-front monitoring and control through direct-feedback; 2) refinement and generalization of trajectory-generation methods using OTI for guidance; 3) creation of protocols for marco-guidance via generated trajectories using a 7-DOF robotic arm system; 4) refinement of direct feedback-control for micro-guidance of robotic systems via OCT for maintaining focal distance; 5) development of optimized methods for image fusion for targeted ablation; and 6) refinement of SV-OCT methods for detection of microfluidic channels and directed ablation. Specific aims include: a) Development of integrated optical systems (OCT-ablation laser) with direct links for feedback control (i.e laser stoppage); b) development of OCT-robotic feedback and control systems for fine robotic control; c) continued development of robust, generalized methods for OTI trajectory generation with robotic constraints and considerations; and d) continued development of OCT flow-detection methods. In this, the long-term goal of the project is the development of an overall combined system for micro- and macro-controlled robotic laser ablation that is both robust and generalizable. In this, we meet initial aims set-out in previous grants (i.e developed towards neurosurgical focus), but move towards more general applied engineering methods with wide applications to industrial processes, both within biomedical engineering such as with targeted ablation for refinement of tissue scaffolding with microfluidic channels for tissue engineering, and further outside of this field in laser machining and template-free manufacturing methods.

精密机器人技术在生物医学和制造环境中都显示出巨大的希望，尤其是在神经外科手术的精确手术技术方面，以及用于无模板微加工的消融系统；然而，宏观和微观指导和反馈控制中仍然存在重大障碍。光学系统的使用，包括光学相干断层扫描（OCT）和光学地形成像（OTI），是一个独特的机会，可以在以前无法以精度的水平上直接且连续地向机器人系统进行直接反馈。 OCT具有通过光纤激光器的内联积分或在光学有效载荷中的系统输出中与激光系统结合的潜力，从而可以直接监视并实现对消融过程的反馈控制。 OCT也可以用于表面和地下表征和靶向 - 特别有用，可用于自定义消融或定向靶向。 OTI可以允许快速有效的大容量成像，并且在与基于红外的跟踪结合使用时，可以实现实时机器视觉图像指导。最后，大批量OCT的最新发展可能允许OTI和OCT数据融合，从而提供了进一步扩大功能的机会。目标包括：1）开发OCT控制的激光消融系统，用于通过直接反馈进行消融前反馈； 2）使用OTI进行指导的轨迹产生方法的细化和概括； 3）通过使用7-DOF机器人臂系统生成的轨迹创建Marco引导方案； 4）通过OCT来改进机器人系统的微观构造，以维持局灶性距离； 5）开发用于靶向消融的图像融合的优化方法； 6）用于检测微流体通道并定向消融的SV-OCT方法的细化。具体目的包括：a）具有直接链接的反馈控制链接的集成光学系统（即激光器）的开发（即激光停止）； b）开发用于精细机器人控制的OCT-ROBOTOT反馈和控制系统； c）持续开发具有机器人限制和考虑因素的OTI轨迹产生的坚固，广义方法； d）持续开发OCT流动检测方法。在这方面，该项目的长期目标是开发用于微观和宏观控制的机器人激光消融的整体组合系统，既有稳定又可推广。 In this, we meet initial aims set-out in previous grants (i.e developed towards neurosurgical focus), but move towards more general applied engineering methods with wide applications to industrial processes, both within biomedical engineering such as with targeted ablation for refinement of tissue scaffolding with microfluidic channels for tissue engineering, and further outside of this field in laser machining and template-free manufacturing methods.