Won Hyung Jin, Kim Namkug, Kim Guk Bae, Seo Joon Beom, Kim Hongho
Departments of Radiology, University of Ulsan College of Medicine, Asan Medical Center, Seoul, Korea.
Diagn Interv Radiol. 2017 May-Jun;23(3):233-237. doi: 10.5152/dir.2017.16422.
We aimed to evaluate the accuracy of a needle-placement robot for biopsy and radiofrequency ablation on an abdominal phantom.
A master-slave robotic system has been developed that includes a needle-path planning system and a needle-inserting robot arm with computed tomography (CT) and CT fluoroscopy guidance. For evaluation of its accuracy in needle placement, a commercially available abdominal phantom (Model 057A; CIRS Inc.) was used. The liver part of the phantom contains multiple spherical simulated tumors of three different size spheres. Various needle insertion trials were performed in the transverse plane and caudocranial plane two nodule sizes (10 mm and 20 mm in diameter) to test the reliability of this robot. To assess accuracy, a CT scan was performed after each trial with the needle in situ.
The overall error was 2 mm (0-2.6 mm), which was calculated as the distance from the planned trajectory before insertion to the actual needle trajectory after insertion. The standard deviations of the insertions on two nodules (10 mm and 20 mm in diameter) were 0.5 mm and 0.2 mm, respectively.
The CT-compatible needle placement robot for biopsy and radiofrequency ablation shows relatively acceptable accuracy and could be used for radiofrequency ablation of nodules ≥10 mm under CT fluoroscopy guidance.
我们旨在评估一种用于腹部体模活检和射频消融的针放置机器人的准确性。
已开发出一种主从式机器人系统，该系统包括针路径规划系统和带有计算机断层扫描（CT）及CT透视引导的针插入机器人手臂。为评估其针放置的准确性，使用了一种市售的腹部体模（057A型号；CIRS公司）。该体模的肝脏部分包含多个三种不同大小球体的球形模拟肿瘤。在横断面和尾颅面针对两种结节大小（直径10毫米和20毫米）进行了各种针插入试验，以测试该机器人的可靠性。为评估准确性，每次试验后在针原位时进行CT扫描。
总误差为2毫米（0 - 2.6毫米），计算方法是从插入前的计划轨迹到插入后实际针轨迹的距离。在两个结节（直径10毫米和20毫米）上插入的标准差分别为0.5毫米和0.2毫米。
用于活检和射频消融的CT兼容针放置机器人显示出相对可接受的准确性，可在CT透视引导下用于直径≥10毫米结节的射频消融。
