A targeting method for robot-assisted percutaneous needle placement under fluoroscopy guidance.

IF 1.5 4区医学 Q3 SURGERY Computer Assisted Surgery Pub Date : 2019-02-02 DOI:10.1080/24699322.2018.1560085

Zhonghao Han,Keyi Yu,Lei Hu,Weishi Li,Huilin Yang,Minfeng Gan,Na Guo,Biao Yang,Hongsheng Liu,Yuhan Wang

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Abstract

BACKGROUND Minimally invasive procedures are rapidly growing in popularity thanks to advancements in medical robots, visual navigation and space registration techniques. This paper presents a precise and efficient targeting method for robot-assisted percutaneous needle placement under C-arm fluoroscopy. METHOD A special end-effector was constructed to perform fluoroscopy calibration and robot to image-space registration simultaneously and automatically. In addition, formulations were given to compute the movement of robot targeting and evaluate targeting accuracy using only one X-ray image. RESULT A pre-clinical experiment showed that the maximum angle error was 0.94° and the maximum position error of a target located 80 mm below the end-effector was 1.31 mm. And evaluation of the system in a robot-assisted pedicle screws placement surgery has justified the accuracy and reliability of proposed method in clinical applications. CONCLUSION The positioning accuracy was increased by using present method. Moreover, radiation exposure and operation time were reduced significantly compared to other commonly used methods.

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透视引导下机器人辅助经皮置针的靶向方法。

背景:由于医疗机器人、视觉导航和空间注册技术的进步，微创手术正在迅速普及。本文介绍了一种在c臂透视下机器人辅助下经皮置针的精确、高效的靶向方法。方法构建专用末端执行器，同时自动完成透视定标和机器人图像空间配准。此外，给出了单x射线图像下机器人瞄准运动计算和瞄准精度评估的公式。结果临床前实验表明，最大角度误差为0.94°，位于末端执行器下方80 mm处的目标最大位置误差为1.31 mm。该系统在机器人辅助椎弓根螺钉置入手术中的应用验证了该方法在临床应用中的准确性和可靠性。结论采用本方法可提高定位精度。此外，与其他常用方法相比，辐射暴露和手术时间明显减少。

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来源期刊

Computer Assisted Surgery Medicine-Surgery

CiteScore

2.30

自引率

0.00%

发文量

审稿时长

10 weeks

期刊介绍： omputer Assisted Surgery aims to improve patient care by advancing the utilization of computers during treatment; to evaluate the benefits and risks associated with the integration of advanced digital technologies into surgical practice; to disseminate clinical and basic research relevant to stereotactic surgery, minimal access surgery, endoscopy, and surgical robotics; to encourage interdisciplinary collaboration between engineers and physicians in developing new concepts and applications; to educate clinicians about the principles and techniques of computer assisted surgery and therapeutics; and to serve the international scientific community as a medium for the transfer of new information relating to theory, research, and practice in biomedical imaging and the surgical specialties. The scope of Computer Assisted Surgery encompasses all fields within surgery, as well as biomedical imaging and instrumentation, and digital technology employed as an adjunct to imaging in diagnosis, therapeutics, and surgery. Topics featured include frameless as well as conventional stereotactic procedures, surgery guided by intraoperative ultrasound or magnetic resonance imaging, image guided focused irradiation, robotic surgery, and any therapeutic interventions performed with the use of digital imaging technology.