Department of Mechanical Engineering, State University of New York at Stony Brook, USA.
Int J Med Robot. 2013 Sep;9(3):317-30. doi: 10.1002/rcs.1441. Epub 2012 Jun 13.
CT-guided needle biopsy of lung nodules requires breath holding during needle placement, and is thus inapplicable to patients with difficulty in holding breath.
A robotic needle biopsy technique is introduced, adapting to the patient respiratory pattern and using a robot manipulator to drive the needle towards a moving lung nodule. Based on the nodule respiratory motion model, needle placement is planned to follow an optimal timing and path, and is triggered based on the respiratory phase tracking. An experimental system has been created to study robotic needle placement.
Preliminary phantom tests were conducted based on three representative clinically-collected lung nodule motion paths, using an 18-gauge coaxial needle set. 300 needle paths were implemented. Robotic needle driving was accomplished within 0.4 s (a typical respiratory phase), and resulted in a needle placement accuracy of 0.5 mm with a standard deviation about 0.1 mm over the non-resistance paths.
The proposed robotic needle placement technique is promising for accurately biopsying lung nodules under respiratory motion and those with very small sizes.
CT 引导下肺结节的穿刺活检需要在穿刺针置人过程中屏气，因此不适用于无法屏气的患者。
本文介绍了一种机器人辅助的穿刺活检技术，该技术可适应患者的呼吸模式，并使用机器人操作臂驱动针具向移动的肺结节移动。基于结节呼吸运动模型，规划最佳的进针时机和路径，并通过呼吸相位跟踪进行触发。创建了一个实验系统来研究机器人进针。
根据三种有代表性的临床采集到的肺结节运动路径，使用 18G 同轴针具进行了初步的仿体试验。共实施了 300 条进针路径。机器人驱动针具在 0.4s（典型的呼吸周期）内完成，在非抵抗路径下，进针的准确性达到 0.5mm，标准偏差约为 0.1mm。
该机器人辅助的穿刺技术有望对呼吸运动中的肺结节以及非常小的结节进行精确的活检。
