Zhonghao Han, Keyi Yu, Lei Hu, Weishi Li, Huilin Yang, Minfeng Gan, Na Guo, Biao Yang, Hongsheng Liu, Yuhan Wang
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引用次数: 0
Abstract
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. In this method, a special end-effector was constructed to perform fluoroscopy calibration and robot to image-space registration simultaneously. In addition, formulations were given to compute the movement of robot targeting and evaluate targeting accuracy using only one X-ray image. With these techniques, radiation exposure and operation time were reduced significantly compared to other commonly used methods. A pre-clinical experiment showed that the maximum angle error was 0.94° and the maximum position error of a target located 80mm below the end-effector was 1.31mm. 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.
由于医疗机器人、视觉导航和空间注册技术的进步,微创手术正迅速普及。本文介绍了一种在 C 臂透视下机器人辅助经皮穿刺置针的精确高效瞄准方法。在该方法中,构建了一种特殊的末端执行器,可同时执行透视校准和机器人与图像空间的配准。此外,还给出了计算机器人瞄准运动的公式,并仅使用一张 X 射线图像来评估瞄准的准确性。与其他常用方法相比,这些技术大大减少了辐射量和操作时间。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 毫米处的目标的最大位置误差为 1.31 毫米。该系统在机器人辅助椎弓根螺钉置入手术中的评估证明了所提方法在临床应用中的准确性和可靠性。
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.