Martinez Rosa M, Ptacek Wolfgang, Schweitzer Wolf, Kronreif Gernot, Fürst Martin, Thali Michael J, Ebert Lars C
University of Zurich, Institute of Forensic Medicine, Winterthurerstrasse 190/52, 8057, Zürich, Switzerland.
J Forensic Sci. 2014 Mar;59(2):517-21. doi: 10.1111/1556-4029.12329. Epub 2013 Dec 6.
CT-guided, minimally invasive needle biopsy techniques can be used to retrieve tissue or body fluid samples for histologic tissue diagnoses in forensic investigations. The purpose of this study was an evaluation of CT-guided needle-positioning robot B-Rob II. To operate under CT guidance, we adopted the B-Rob II robotic needle placement system and its workflow. The accuracy and speed of the procedure were tested on a gelatin phantom in a series of 21 biopsies. We achieved an average needle placement accuracy of 1.8 mm (±1.1 mm) using robotic assistance. The procedure required an average of 2 min 21 s. The needle placement accuracy for minimally invasive needle biopsies using the B-Rob II biopsy robot is sufficiently accurate and fast for forensic postmortem examinations of focal organ changes. Further tests will be performed to test the feasibility of the robot for performing biopsies of focal organ changes in human bodies.
CT引导下的微创穿刺活检技术可用于获取组织或体液样本，以进行法医调查中的组织学诊断。本研究的目的是评估CT引导下的针定位机器人B-Rob II。为了在CT引导下操作，我们采用了B-Rob II机器人针放置系统及其工作流程。在明胶模型上对该操作的准确性和速度进行了测试，共进行了21次活检。在机器人辅助下，我们实现了平均针放置精度为1.8毫米（±1.1毫米）。该操作平均需要2分21秒。使用B-Rob II活检机器人进行微创穿刺活检的针放置精度对于局灶性器官变化的法医尸检来说足够准确且快速。将进行进一步测试以检验该机器人对人体局灶性器官变化进行活检的可行性。
