医学机器人辅助光动力疗法治疗葡萄酒色斑的研发与临床评估。

Development and clinical evaluation of medical robot assisted photodynamic therapy of port wine stains.

机构信息

Intelligent Robotics Institute, Beijing Institute of Technology, 5 Nandajie, Zhongguancun, Haidian, Beijing, China.

出版信息

Int J Med Robot. 2011 Mar;7(1):107-17. doi: 10.1002/rcs.377. Epub 2011 Jan 17.

DOI:10.1002/rcs.377

PMID:21341369

Abstract

BACKGROUND

Port wine stains (PWS) are a kind of skin disease for which photodynamic therapy (PDT) has already achieved good results. With manual operation of clinical PDT, the laser density is uneven and laser irradiation of the lesion is arbitrary and non-uniform. In addition, lengthy manual operation tires doctors; thus a robot system has been developed to assist them.

METHODS

First, a novel medical manipulator consisting of five passive joints (robot arm) and two active joints (robot wrist) was developed to automatically improve the uniformity of laser irradiation. Second, image processing of the lesion was introduced. Third, kinematics and path planning of the robot were analysed, and safety precautions were introduced. Then, accuracy tests of the robot wrist and robot system were conducted separately before clinical application. Finally, a total of 50 PWS cases were treated using the robot system. The clinical outcomes and comparison of non-parametric values were employed to evaluate the robot system.

RESULTS

The accuracies of the robot wrist and robot system were shown to meet the requirements of clinical PDT treatment. The robot system performed successfully in 50 PWS cases. Doctors can devote more energy to clinical judgments during treatment with the assistance of the robot system. All the PWS have shown different degrees of improvement. The results show that the robot system is useful in assisting doctors for the PDT treatment of PWS.

CONCLUSIONS

The experiments show the feasibility and usefulness of the robot system in assisting doctors giving PDT treatment for PWS. The robot system can lighten the load on doctors and improve the therapeutic effect.

摘要

背景

葡萄酒色斑（PWS）是一种皮肤病，光动力疗法（PDT）已取得良好效果。在临床 PDT 的手动操作中，激光密度不均匀，对病变的激光照射任意且不均匀。此外，长时间的手动操作会使医生感到疲劳；因此，开发了一种机器人系统来协助他们。

方法

首先，开发了一种由五个被动关节（机器臂）和两个主动关节（机器手腕）组成的新型医疗操纵器，以自动提高激光照射的均匀性。其次，引入了病变的图像处理。第三，分析了机器人的运动学和路径规划，并介绍了安全措施。然后，在临床应用前分别对机器人手腕和机器人系统进行了精度测试。最后，使用机器人系统治疗了 50 例 PWS 病例。采用非参数值的临床结果和比较来评估机器人系统。