Institute for Diagnostic and Interventional Radiology, Goethe University Hospital, Theodor-Stern-Kai 7, 60590, Frankfurt, Germany.
Eur Radiol. 2013 Jan;23(1):198-204. doi: 10.1007/s00330-012-2585-0. Epub 2012 Jul 21.
To analyse the feasibility and accuracy of robotic aided interventions on a phantom when using a modern C-arm-mounted cone beam computed tomography (CBCT) device in combination with needle guidance software.
A small robotic device capable of holding and guiding needles was attached to the intervention table. After acquiring a 3D data set the access path was planned on the CBCT workstation and shown on the intervention monitor. Then the robot was aligned to the live fluorosopic image. A total of 40 punctures were randomly conducted on a phantom armed with several targets (diameter 2 mm) in single and double oblique trajectory (n = 20 each). Target distance, needle deviation and time for the procedures were analysed.
All phantom interventions (n = 40) could be performed successfully. Mean target access path within the phantom was 8.5 cm (min 4.2 cm, max 13.5 cm). Average needle tip deviation was 1.1 mm (min 0 mm, max 4.5 mm), time duration was 3:59 min (min 2:07 min, max 10:37 min).
When using the proposed robot device in a CBCT intervention suite, highly accurate needle-based interventional punctures are possible in a reasonable timely manner in single as well as in double oblique trajectories.
分析在现代 C 臂锥形束 CT（CBCT）设备与针引导软件结合使用的情况下，对机器人辅助介入操作在体模上的可行性和准确性。
将一个能够握持和引导针的小型机器人设备附接到介入台上。在获取三维数据集后，在 CBCT 工作站上规划进入路径，并在介入监视器上显示。然后，机器人与实时荧光透视图像对准。总共在一个带有几个目标（直径 2 毫米）的体模上进行了 40 次随机穿刺，单斜和双斜轨迹各 20 次。分析目标距离、针偏差和手术时间。
所有体模介入（n=40）均能成功完成。在体模内的平均目标进入路径为 8.5 厘米（最小 4.2 厘米，最大 13.5 厘米）。平均针尖偏差为 1.1 毫米（最小 0 毫米，最大 4.5 毫米），手术时间为 3:59 分钟（最小 2:07 分钟，最大 10:37 分钟）。
在 CBCT 介入套件中使用所提出的机器人设备时，可以在单斜和双斜轨迹中以合理的时间内实现高度精确的基于针的介入穿刺。
