Robotic system for biopsy and therapy of breast lesions in a high-field whole-body magnetic resonance tomography unit
Robotic system for biopsy and therapy of breast lesions in a high-field whole-body magnetic resonance tomography unit
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DOI：
10.1097/00004424-200008000-00008
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发表时间：
2000-08-01
影响因子：
6.7
通讯作者：
Selig, M
中科院分区：
文献类型：
--
作者：
Kaiser, WA;Fischer, H;Selig, M
原理和说明。磁共振乳腺X线摄影在小乳腺癌的诊断方面取得了重大进展，但对可疑病变的活检和治疗必须在以后进行。诊断和同时活检和治疗在一个单一的检查将大大降低成本，对病人的压力，副作用。ROBITOM（用于乳腺病变活检和介入治疗的机器人系统）用于在高磁场（例如，1.5 T）下以图像控制方式接近乳腺中发现的病变。机器人系统在磁体等中心附近工作，由套管针、同轴套管、活检针、激光器以及控制和驱动单元组成。它包含一个机架，一个沿空间三个同轴沿着的驱动单元，以及一个用于器械或活检样本取出的夹持单元。这个系统有六个自由度。在猪肝中进行体外实验，包括8个靶点（维生素E胶囊，直径4 mm）。所有八个胶囊都被机器人活检系统精确击中。在1.5 T全身扫描仪的等中心点直接进行该过程。该系统允许在高磁场中接近乳房中病变的坐标，而不会移动患者，成像与活检和后续治疗腿（激光治疗或冷冻治疗）的组合似乎在未来是可行的。
RATIONALE AND OBJECTIVES. With magnetic resonance mammography, significant progress has been achieved in the diagnosis of small breast cancers, However, biopsy and therapy of suspicious lesions must take place at a later time. Diagnosis and simultaneous biopsy and therapy in one single examination would considerably reduce costs, strain on the patient, and side effects.METHODS. ROBITOM (Robotic system for biopsy and interventional therapy of mammary lesions) is used to approach a lesion found in the breast in an image-controlled manner under a high magnetic field (eg, 1.5 T), The robotic system works in the direct vicinity of the isocenter of a magnet and consists of a trocar, coaxial sleeve, biopsy needle, laser applicator, and a control and driving unit. It contains a rack, a driving unit along the three coaxes of space, and a gripping unit for instruments or biopsy sample removal. The system has six degrees of freedom.RESULTS. In vitro experiments in pig liver including eight targets (vitamin E capsules, 4 mm in diameter) were performed. All eight capsules were hit precisely by the robotic biopsy system. The procedure was performed directly in the isocenter of a 1.5-T whole-body scanner.CONCLUSIONS. The system allows the coordinates of a lesion in the breast to be approached in a high magnetic field without shifting the patient, A combination of imaging with biopsy and subsequent therapy leg, laser therapy or cryotherapy) seems to be feasible in the future.