Grant: Research Tools and Instruments

Accurate needle positioning is essential for many medical procedures, including biopsies and radiotherapy. Ultrasound imaging is commonly used to guide the needle to the target region. However, this continues to be a challenge due to the user's reliance on image quality, limited field of view and moving target. In this research, we will develop a new approach whereby a robotic guided needle is moved semi-autonomously to a target using an ultrasound probe mounted on a second robot. Three-dimensional tracking is essential in this case because the precise navigation of the needle toward a target relies on knowing exactly where the ultrasound probe and the needle are relative to the target. If the location of the two elements is not accurately followed, the overall accuracy of the procedure is compromised. In addition, accurate tracking affects procedure safety, patient comfort and overall usability of the device. In terms of imaging, a robotic arm was recently instrumented at the Mazankowski Heart Institute with an ultrasonic probe. Multiview ultrasound imaging is accomplished by measuring the position and orientation of the ultrasound probe using the angle sensors in the robotic arm and then fusing these Multiview images into a new image with a larger field of view and improved image quality. Similar to this approach, we would like to purchase a second medical-grade robotic arm to help localize and direct the needle to the target. Both robots will be synchronized within a shared coordinate system and control loop. Using a supervisory control approach, such a system could help clinicians guide the needle more accurately toward the target by adding extra functionalities such as a 3D display of the needle location relative to the target and surrounding organs using the fusion of MRI and ultrasound imaging, collision avoidance, the ability to deal with moving targets, and eventually to automate the entire navigation procedure. We would like to buy a medical grade KUKA LBR Med 7 R800 robot to control the needle insertion. The medical grade is essential because it is the robot responsible for eventually moving the needle into a patient's body.