A robotic needle-positioning and guidance system for CT-guided puncture: Ex vivo results
A robotic needle-positioning and guidance system for CT-guided puncture: Ex vivo results
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DOI：
10.3109/13645706.2014.928641
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发表时间：
2014-10-01
影响因子：
1.7
通讯作者：
Kronreif, Gernot
中科院分区：
文献类型：
--
作者：
Kettenbach, Joachim;Kara, Levent;Kronreif, Gernot
目的：在CT引导离体穿刺期间测试机器人针引导平台的可行性。材料和方法：插入躯干体模的细铜线作为靶。将体模放置在碳板上，并连接引导平台的机器人定位单元（RPU）（iPhoneMedizintechnik GmbH，Kitzbuehel，Austria）。在CT成像和自动配准后，计划双斜轨迹，并将RPU远程移动到适当的位置和角度。然后在RPU的永久引导下手动插入17 G穿刺针，直至达到预先计划的深度。重复CT扫描，并评价实际针尖与靶点之间的距离。结果：自动配准在10个实验中成功，实验的中位持续时间为9.6（6.4-46.0）分钟。针路径在x-y和z轴上的角度分别在15.6度至32.6度和-32.8度至3.2度范围内，针插入深度为92.8 +/- 14.4 mm。实际针尖和目标之间的欧几里得距离为2.3 +/- 0.8结论：自动配准和准确的针放置靠近小目标。研究设置和躯干体模非常接近临床现实。
Purpose: To test the feasibility of a robotic needle-guidance platform during CT-guided puncture ex vivo. Material and methods: Thin copper wires inserted into a torso phantom served as targets. The phantom was placed on a carbon plate and the robot-positioning unit (RPU) of the guidance platform (iSYS Medizintechnik GmbH, Kitzbuehel, Austria) was attached. Following CT imaging and automatic registration a double oblique trajectory was planned and the RPU was remotely moved into appropriate position and angulation. A 17G-puncture needle was then manually inserted until the preplanned depth, permanently guided by the RPU. The CT scan was repeated and the distance between the actual needle tip and the target was evaluated. Results: Automatic registration was successful in ten experiments and the median duration of an experiment was 9.6 (6.4-46.0) minutes. The angulation of the needle path in x-y and z-axis was within 15.6 degrees to 32.6 degrees, and -32.8 degrees to 3.2 degrees, respectively and the needle insertion depth was 92.8 +/- 14.4 mm. The Euclidean distance between the actual needle tip and the target was 2.3 +/- 0.8 (range, 0.9-3.7) mm. Conclusion: Automatic registration and accurate needle placement close to small targets was demonstrated. Study settings and torso phantom were very close to the clinical reality.