Zhang Weifan, Xia Peng, Liu Shijie, Huang Xiaowei, Zhao Xinhui, Liu Zhao, Dang Hui, Li Xiaohu, Niu Gang
Department of Surgical Oncology, The First Affiliated Hospital of Xi'an Jiaotong University, Xi'an, PR China.
School of Mechanical Engineering, Xi'an Jiaotong University, Xi'an, PR China.
Minim Invasive Ther Allied Technol. 2022 Feb;31(2):206-215. doi: 10.1080/13645706.2020.1787451. Epub 2020 Jul 7.
To evaluate the accuracy of the robot-assisted computed tomography (CT)-guided coordinate positioning puncture method by phantom and animal experiments.
In the phantom experiment, seven robot-assisted punctures were made to evaluate the accuracy of the method. In the animal experiment, 18 punctures (nine robotic and nine manual) were made in the livers of nine rabbits. The indicators, such as needle-tract length, angle deviation, puncture accuracy, number of scans required, and radiation exposure dose were compared between manual and robotic punctures. The paired-samples t-test was used for analysis.
In the phantom experiment, the mean accuracy of seven punctures was 2.67 mm. In the animal experiment, there was no significant difference in needle-tract length (32.58 mm 34.04 mm, = .606), angle deviation (17.21° 21.23° = .557) and puncture accuracy (8.42 8.77 mm, = .851) between the two groups. However, the number CT scans required (2.44 3.33, = .002), and the radiation exposure dose (772.98 1077.89 mGy/cm, = .003) were lower in the robot group than in the manual group.
The coordinate positioning puncture method under robot-assisted CT-guidance can reach an accuracy that is comparable to that of the traditional manual CT-guided puncture method and with fewer CT scanning times accompanied with a lower radiation dosage.
通过体模和动物实验评估机器人辅助计算机断层扫描（CT）引导下坐标定位穿刺方法的准确性。
在体模实验中，进行了7次机器人辅助穿刺以评估该方法的准确性。在动物实验中，对9只兔子的肝脏进行了18次穿刺（9次机器人穿刺和9次手动穿刺）。比较了手动穿刺和机器人穿刺之间的指标，如针道长度、角度偏差、穿刺准确性、所需扫描次数和辐射暴露剂量。采用配对样本t检验进行分析。
在体模实验中，7次穿刺的平均准确性为2.67毫米。在动物实验中，两组之间的针道长度（32.58毫米对34.04毫米，P = 0.606）、角度偏差（17.21°对21.23°，P = 0.557）和穿刺准确性（8.42对8.77毫米，P = 0.851）无显著差异。然而，机器人组所需的CT扫描次数（2.44对3.33，P = 0.002）和辐射暴露剂量（772.98对1077.89毫戈瑞/厘米，P = 0.003）低于手动组。
机器人辅助CT引导下的坐标定位穿刺方法能够达到与传统手动CT引导穿刺方法相当的准确性，且CT扫描次数更少，辐射剂量更低。
