Preliminary evaluation for ultrasound-guided targeted prostate biopsy using a portable surgical robot: Ex vivo results

IF 2.3 3区医学 Q2 SURGERY International Journal of Medical Robotics and Computer Assisted Surgery Pub Date : 2023-11-20 DOI:10.1002/rcs.2597

Wenhe Jiang, Yongzhuo Gao, Mingwei Wen, Zhichao Ye, Huageng Liang, Dongmei Wu, Wei Dong

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Abstract

Background

Robotic systems are increasingly used to enhance clinical outcomes in prostate intervention. To evaluate the clinical value of the proposed portable robot, the robot-assisted and robot-targeted punctures were validated experimentally.

Method

The robot registration utilising the electromagnetic tracker achieves coordinate transformation from the ultrasound (US) image to the robot. Subsequently, Transrectal ultrasound (TRUS)-guided phantom trials were conducted for robot-assisted, free-hand, and robot-targeted punctures.

Results

The accuracy of robot registration was 0.95 mm, and the accuracy of robot-assisted, free-hand, and robot-targeted punctures was 2.38 ± 0.64 mm, 3.11 ± 0.72 mm, and 3.29 ± 0.83 mm sequentially.

Conclusion

The registration method has been successfully applied to robot-targeted puncture. Current results indicate that the accuracy of robot-targeted puncture is slightly inferior to that of manual operations. Moreover, in manual operation, robot-assisted puncture improves the accuracy of free-hand puncture. Accuracy superior to 3.5 mm demonstrates the clinical applicability of both robot-assisted and robot-targeted punctures.

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超声引导下使用便携式手术机器人进行前列腺活检的初步评估:离体结果。

背景:机器人系统越来越多地用于提高前列腺干预的临床效果。为了评估所提出的便携式机器人的临床价值，实验验证了机器人辅助和机器人靶向穿刺。方法:利用电磁跟踪器对机器人进行配准，实现超声图像到机器人的坐标变换。随后，进行了经直肠超声(TRUS)引导的机器人辅助、徒手和机器人靶向穿刺的模拟试验。结果:机器人配准精度为0.95 mm，机器人辅助、徒手和机器人定向穿刺精度分别为2.38±0.64 mm、3.11±0.72 mm和3.29±0.83 mm。结论:该配准方法已成功应用于机器人定向穿刺。目前的结果表明，机器人定向穿刺的准确性略低于人工操作。此外，在人工操作中，机器人辅助穿刺提高了徒手穿刺的准确性。准确性优于3.5 mm，证明了机器人辅助和机器人靶向穿刺的临床适用性。

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来源期刊

International Journal of Medical Robotics and Computer Assisted Surgery 医学-外科

CiteScore

4.50

自引率

12.00%

发文量

131

审稿时长

6-12 weeks

期刊介绍： The International Journal of Medical Robotics and Computer Assisted Surgery provides a cross-disciplinary platform for presenting the latest developments in robotics and computer assisted technologies for medical applications. The journal publishes cutting-edge papers and expert reviews, complemented by commentaries, correspondence and conference highlights that stimulate discussion and exchange of ideas. Areas of interest include robotic surgery aids and systems, operative planning tools, medical imaging and visualisation, simulation and navigation, virtual reality, intuitive command and control systems, haptics and sensor technologies. In addition to research and surgical planning studies, the journal welcomes papers detailing clinical trials and applications of computer-assisted workflows and robotic systems in neurosurgery, urology, paediatric, orthopaedic, craniofacial, cardiovascular, thoraco-abdominal, musculoskeletal and visceral surgery. Articles providing critical analysis of clinical trials, assessment of the benefits and risks of the application of these technologies, commenting on ease of use, or addressing surgical education and training issues are also encouraged. The journal aims to foster a community that encompasses medical practitioners, researchers, and engineers and computer scientists developing robotic systems and computational tools in academic and commercial environments, with the intention of promoting and developing these exciting areas of medical technology.