Robot-assisted biopsy using ultrasound guidance: initial results from in vitro tests
Robot-assisted biopsy using ultrasound guidance: initial results from in vitro tests
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DOI：
10.1007/s00330-004-2487-x
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发表时间：
2005-04-01
影响因子：
5.9
通讯作者：
Bergmann, H
中科院分区：
文献类型：
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作者：
Kettenbach, J;Kronreif, G;Bergmann, H
本研究的目的是开发一种用于超声（US）引导活检的机器人系统，并使用体模测试验证其可行性、准确性和有效性。选择20个包埋在凝胶体模中的豌豆（平均直径9.3 +/- 0.1 mm）进行活检。一旦确定了最佳入路，就通过光学跟踪系统记录超声换能器的位置。传感器的位置数据和相应的US图像被传输到机器人规划系统（配备视频捕获卡的基于Linux的工业PC）。一旦计算出适当的位置、成角和俯仰，机械臂就以七个自由度自动移动到计划的插入路径，将针定位单元瞄准目标的中心。然后，使用同轴技术手动进行活检。测量所有采集标本的长度，并通过超声评价实际针道与目标中心的偏差。在所有目标中，活检标本（平均长度5 +/- 1.2 mm）仅需一次穿刺即可采集。针尖与目标中心的平均偏差为1.1 +/- 0.8 mm。使用US引导的体外机器人辅助活检是可行的，并提供了高准确度。
The purpose of this study was to develop a robotic system for ultrasound (US)-guided biopsy and to validate the feasibility, accuracy and efficacy using phantom tests. Twenty peas (mean diameter 9.3 +/- 0.1 mm) embedded within a gel-phantom were selected for biopsy. Once the best access was defined, the position of the US transducer was recorded by an optical tracking system. Positional data of the transducer and the corresponding US image were transferred to the roboter planning system (LINUX-based industrial PC equipped with video capture card). Once the appropriate position, angulation and pitch were calculated, the robotic arm moved automatically with seven degrees-of-freedom to the planned insertion path, aiming the needle-positioning unit at the center of the target. Then, the biopsy was performed manually using a coaxial technique. The length of all harvested specimens was measured, and the deviation of the actual needle tract from the center of the target was evaluated sonographically. In all targets, the biopsy specimen (mean length 5 +/- 1.2 mm) was harvested with only one needle pass required The mean deviation of the needle tip from the center of the target was 1.1 +/- 0.8 mm. Robotic assisted biopsies in-vitro using US-guidance were feasible and provided high accuracy.