Zhang Yongde, Yang Jiabin, Huang Xuequan, He Chuang
Key Laboratory of Advanced Manufacturing and Intelligent Technology, Harbin University of Science and Technology, Harbin, 150080, China.
Foshan Baikang Robot Technology Co., Ltd., Room b429, Block b, Phase ii, Nanhai Industrial Think Tank, Nanhai District, Foshan, China.
J Robot Surg. 2025 Apr 17;19(1):163. doi: 10.1007/s11701-025-02328-y.
Liver puncture is an indispensable procedure in the diagnosis and treatment of liver diseases. However, traditional manual puncture typically relies on the extensive experience and judgment of physicians. Liver puncture robots, with their advantages of high stability, precision, and safety, can to some extent compensate for the shortcomings of traditional manual puncture. Based on the different imaging modalities, liver puncture robots are categorized into those guided by ultrasound, CT, and MRI, and the advantages and disadvantages of these three imaging guidance methods are analyzed. Spatial positioning methods play a crucial role in improving the accuracy of puncture during surgery. Therefore, the spatial positioning methods under image guidance are introduced. Finally, the current research status of image-guided liver puncture robots and positioning methods is summarized, and future research directions are discussed.
肝脏穿刺是肝脏疾病诊断和治疗中不可或缺的一项操作。然而，传统的手动穿刺通常依赖医生丰富的经验和判断。肝脏穿刺机器人具有高稳定性、高精度和安全性等优点，在一定程度上可以弥补传统手动穿刺的不足。基于不同的成像模态，肝脏穿刺机器人可分为超声引导、CT引导和MRI引导三类，并分析了这三种成像引导方法的优缺点。空间定位方法在提高手术穿刺准确性方面起着至关重要的作用。因此，介绍了图像引导下的空间定位方法。最后，总结了图像引导肝脏穿刺机器人及定位方法的研究现状，并探讨了未来的研究方向。
