Mozer P, Leroy A, Payan Y, Troccaz J, Chartier-Kastler E, Richard F
Department of Urology, Pitié-Salpetriere Hospital, Pierre et Marie Curie University (Paris VI) Paris, France.
Int J Med Robot. 2005 Dec;1(4):58-66. doi: 10.1002/rcs.58.
The aim of this paper is to introduce the principles of computer-assisted access to the kidney. The system provides the surgeon with a pre-operative 3D planning on computed tomography (CT) images. After a rigid registration with space-localized ultrasound (US) data, preoperative planning can be transferred to the intra-operative conditions and an intuitive man-machine interface allows the user to perform a puncture.
Both CT and US images of informed normal volunteer were obtained to perform calculation on the accuracy of registration and punctures were carried out on a kidney phantom to measure the precision of the whole of the system.
We carried out millimetric registrations on real data and guidance experiments on a kidney phantom showed encouraging results of 4.7 mm between planned and reached targets. We noticed that the most significant error was related to the needle deflection during the puncture.
Preliminary results are encouraging. Further work will be undertaken to improve efficiency and accuracy, and to take breathing into account.
本文旨在介绍计算机辅助肾脏穿刺的原理。该系统为外科医生提供基于计算机断层扫描（CT）图像的术前三维规划。在与空间定位超声（US）数据进行刚性配准后，术前规划可转换为术中条件，并且直观的人机界面允许用户进行穿刺操作。
获取了知情正常志愿者的CT和US图像，以计算配准的准确性，并在肾脏模型上进行穿刺操作，以测量整个系统的精度。
我们在真实数据上进行了毫米级的配准，在肾脏模型上的引导实验显示，计划靶点与实际到达靶点之间的误差为4.7毫米，结果令人鼓舞。我们注意到，最显著的误差与穿刺过程中的针头偏转有关。
初步结果令人鼓舞。将进一步开展工作以提高效率和准确性，并考虑呼吸因素。
