A coordinate positioning puncture method under robot-assisted CT-guidance: phantom and animal experiments

Abstract

Purpose

To evaluate the accuracy of the robot-assisted computed tomography (CT)-guided coordinate positioning puncture method by phantom and animal experiments.

Material and methods

In the phantom experiment, seven robot-assisted punctures were made to evaluate the accuracy of the method. In the animal experiment, 18 punctures (nine robotic and nine manual) were made in the livers of nine rabbits. The indicators, such as needle-tract length, angle deviation, puncture accuracy, number of scans required, and radiation exposure dose were compared between manual and robotic punctures. The paired-samples t-test was used for analysis.

Results

In the phantom experiment, the mean accuracy of seven punctures was 2.67 mm. In the animal experiment, there was no significant difference in needle-tract length (32.58 mm vs. 34.04 mm, p = .606), angle deviation (17.21° vs. 21.23° p = .557) and puncture accuracy (8.42 vs. 8.77 mm, p = .851) between the two groups. However, the number CT scans required (2.44 vs. 3.33, p = .002), and the radiation exposure dose (772.98 vs. 1077.89 mGy/cm, p = .003) were lower in the robot group than in the manual group.

Conclusions

The coordinate positioning puncture method under robot-assisted CT-guidance can reach an accuracy that is comparable to that of the traditional manual CT-guided puncture method and with fewer CT scanning times accompanied with a lower radiation dosage.

Keywords:

• Robot-assisted
• CT-guidance
• puncture
• coordinate positioning
• animal experiment

Acknowledgments

The authors sincerely thank all the people contributed to the study.

Declaration of interest

The authors declare no conflict of interest in this study.

Additional information

Funding

This study was supported by the Key Research and Development Program of Science and Technology Department, Xi’an, Shaanxi, China, under grant 2017SF-031; and Basic Scientific Research of Xi’an Jiaotong University, Xi’an, Shaanxi, China, under xjj2016108; and 3D-print Medical Research Award of the First Affiliated Hospital of Xi’an Jiaotong University, Xi’an, Shaanxi, China, under grant XJTU1AF-3D-2017-010. Furthermore, the robot was provided by Hangzhou Vision Robot Technology Co., Ltd, Hangzhou, Zhejiang, China; the lung phantom was provided by the Mechanical School of Xi’an Jiaotong University, Xi’an, Shaanxi, China; the experimental rabbits were provided by animal experiment center of Xi’an Jiaotong University, Xi’an, Shaanxi, China.