System for robotically assisted prostate biopsy and therapy with intraoperative CT guidance
System for robotically assisted prostate biopsy and therapy with intraoperative CT guidance
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DOI：
10.1016/s1076-6332(03)80297-0
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发表时间：
2002-01-01
影响因子：
4.8
通讯作者：
Stoianovici, D
中科院分区：
文献类型：
--
作者：
Fichtinger, G;DeWeese, TL;Stoianovici, D
基本原理和目标。本研究的目的是评估正在开发的图像引导机器人系统原型，该系统可通过计算机断层扫描 (CT) 扫描仪机架内的术中图像引导，将经会阴针准确、一致地放置到前列腺中。材料和方法。教练安装系统由七自由度被动安装臂组成；远程运动中心机器人；以及机动化、射线可透的针插入装置，用于通过会阴途径将 17-18 号植入针和活检针输送到前列腺中。机器人通过立体定向适配器注册到图像空间。外科医生使用从 CT 扫描仪接收 DICOM 图像的台式计算机来计划和控制 CT 扫描仪室中的干预。完整的系统适合随身携带的手提箱，不需要校准，并且不使用 CT 扫描仪的供应商特定功能。结果。在露天环境下，5-8 厘米深度的平均精度优于 1 毫米。在各种模型中，平均定向误差为1.3度，针尖与目标之间的平均距离为2毫米。结论。初步实验结果表明，该机器人系统可能适合经会阴针置入前列腺，并在各种其他经皮临床应用中显示出潜力。
Rationale and Objectives. The purpose of this study was to assess the work-in-progress prototype of an image-guided, robotic system for accurate and consistent placement of transperineal needles into the prostate with intraoperative image guidance inside the gantry of a computed tomographic (CT) scanner.Materials and Methods. The coach-mounted system consists of a seven-degrees-of-freedom, passive mounting arm; a remote-center-of-motion robot; and a motorized, radiolucent needle-insertion device to deliver 17-18-gauge implant and biopsy needles into the prostate with the transperineal route. The robot is registered to the image space with a stereotactic adapter. The surgeon plans and controls the intervention in the CT scanner room with a desktop computer that receives DICOM images from the CT scanner. The complete system fits in a carry-on suitcase, does not need calibration, and does not utilize vendor-specific features of the CT scanner.Results. In open air, the average accuracy was better than 1 mm at a 5-8-cm depth. In various phantoms, the average orientation error was 1.3degrees, and the average distance between the needle tip and the target was 2 mm.Conclusion. Results of preliminary experiments indicate that this robotic system may be suitable for transperineal needle placement into the prostate and shows potential in a variety of other percutaneous clinical applications.