Chen Xiangqian, Yan Yadong, Li Ailing, Wang Tianmiao, Wang Yu
School of Mechanical Engineering and Automation, Beihang University, Beijing, China.
School of Biological Science and Medical Engineering, Beihang University, No. 37 Xueyuan Road, Haidian District, Beijing, 100191, People's Republic of China.
Cardiovasc Intervent Radiol. 2023 Jan;46(1):128-135. doi: 10.1007/s00270-022-03301-0. Epub 2022 Nov 15.
This study aimed to evaluate the accuracy and safety of robotic CT-guided needle insertion in phantom and animal experiments.
A robotic system was developed for CT-guided needle insertion. For the phantom experiment, a specially made phantom containing multiple spherical was used. 15 robotic and manual insertions were conducted, and the accuracy, time, number of needle insertions, and radiation dose were compared between the robotic and manual insertion using Student's t-test. For the animal experiment, 20 robotic needle insertions were attempted toward simulated pulmonary nodules in the swine lung. The accuracy and safety of robotic CT-guided needle insertions were evaluated.
In the phantom experiment, the mean accuracies of manual and robotic insertion were 1.8 ± 0.3 mm and 1.9 ± 0.2 mm. The accuracy of robotic needle insertion had no significant difference with manual needle insertion, but the number of needle insertions and radiation dose of the robotic needle placement significantly decreased compared to manual needle placement. In the animal experiment, the mean accuracy of the robotic needle insertion was 3.8 ± 1.3 mm. The time for the whole needle insertion was 14.4 ± 4.8 min. The whole robotic needle insertions were safe and only one mild pneumothorax occurred.
CT-guided robotic needle insertion showed accuracy comparable to manual needle insertion, but the number of needle insertions, confirmatory scans, and radiation exposure had been reduced significantly. In future, we will further apply the robotic system to clinical experiments.
本研究旨在评估在体模和动物实验中机器人CT引导下针穿刺的准确性和安全性。
开发了一种用于CT引导针穿刺的机器人系统。在体模实验中，使用了一个特制的包含多个球体的体模。进行了15次机器人穿刺和手动穿刺，并使用学生t检验比较了机器人穿刺和手动穿刺之间的准确性、时间、穿刺次数和辐射剂量。在动物实验中，对猪肺中的模拟肺结节进行了20次机器人针穿刺尝试。评估了机器人CT引导针穿刺的准确性和安全性。
在体模实验中，手动穿刺和机器人穿刺的平均准确性分别为1.8±0.3毫米和1.9±0.2毫米。机器人针穿刺的准确性与手动针穿刺无显著差异，但与手动针放置相比，机器人针放置的穿刺次数和辐射剂量显著降低。在动物实验中，机器人针穿刺的平均准确性为3.8±1.3毫米。整个针穿刺时间为14.4±4.8分钟。整个机器人针穿刺是安全的，仅发生了一例轻度气胸。
CT引导下的机器人针穿刺显示出与手动针穿刺相当的准确性，但穿刺次数、确认扫描次数和辐射暴露显著减少。未来，我们将进一步将该机器人系统应用于临床试验。
