Robotic needle guide for prostate brachytherapy: clinical testing of feasibility and performance.
Robotic needle guide for prostate brachytherapy: clinical testing of feasibility and performance.
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DOI：
10.1016/j.brachy.2010.01.003
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发表时间：
2011-01
期刊：
影响因子：
1.9
通讯作者：
Kazanzides, Peter
中科院分区：
文献类型：
--
作者：
Song, Danny Y.;Burdette, Everette C.;Fiene, Jonathan;Armour, Elwood;Kronreif, Gernot;Deguet, Anton;Zhang, Zhe;Iordachita, Iulian;Fichtinger, Gabor;Kazanzides, Peter
前列腺近距离放射治疗的优化受到针的组织偏转和模板孔的固定间距的限制。我们开发并临床测试了一个机器人引导器，以实现更大的针头放置自由。该机器人由一个小管状导针器组成，该导针器连接在一个机器人控制的手臂上。该装置安装和校准，以在与标准模板相同的坐标系中运行。可以在会阴±40mm方向上进行x和y方向的平移。针的插入是手动进行的。五名患者在irb批准的研究中接受治疗。使用红外跟踪对最初3例患者的机器人运动进行验证性测量，平均误差为0.489 mm （SD 0.328 mm）。当遇到组织偏转时，可以对针头定位进行微调；54/179（30.2%）支针进行调整，36/179（20.1%）支针调整bb0 2mm。27个插入点被故意改变到标准模板网格之间的位置，以改善剂量计计划或避免耻骨和血管等结构。机器人针头定位提供了一种补偿针头偏转的方法，以及有意将针头放置在标准模板孔之间的区域的能力。据我们所知，这些结果代表了这种系统的首次临床试验。未来的工作将包括医生对机器人的直接控制，添加软件算法以帮助避免机器人与超声波碰撞，并在临床环境中测试其角度能力。
Optimization of prostate brachytherapy is constrained by tissue deflection of needles and fixed spacing of template holes. We developed and clinically tested a robotic guide towards the goal of allowing greater freedom of needle placement. The robot consists of a small tubular needle guide attached to a robotically controlled arm. The apparatus is mounted and calibrated to operate in the same coordinate frame as a standard template. Translation in x and y directions over the perineum ±40mm are possible. Needle insertion is performed manually. Five patients were treated in an IRB-approved study. Confirmatory measurements of robotic movements for initial 3 patients using infrared tracking showed mean error of 0.489 mm (SD 0.328 mm). Fine adjustments in needle positioning were possible when tissue deflection was encountered; adjustments were performed in 54/179 (30.2%) needles placed, with 36/179 (20.1%) adjustments of > 2mm. Twenty-seven insertions were intentionally altered to positions between the standard template grid to improve the dosimetric plan or avoid structures such as pubic bone and blood vessels. Robotic needle positioning provided a means of compensating for needle deflections as well as the ability to intentionally place needles into areas between the standard template holes. To our knowledge, these results represent the first clinical testing of such a system. Future work will be incorporation of direct control of the robot by the physician, adding software algorithms to help avoid robot collisions with the ultrasound, and testing the angulation capability in the clinical setting.
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DOI：
10.1016/j.ijrobp.2004.01.045
发表时间：
2004-08-01
影响因子：
7
作者：
Buskirk, SJ;Pinkstaff, DM;Igel, TC
通讯作者：
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影响因子：
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作者：
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通讯作者：
Kazanzides, Peter
DOI：
10.1080/13645700701520735
发表时间：
2007-01-01
影响因子：
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作者：
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通讯作者：
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影响因子：
3.8
作者：
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影响因子：
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作者：
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