导航及机器人辅助系统三维空间信息对超声引导肝肿瘤经皮热消融治疗的作用:临床应用的准确性与可行性

Effects of navigation and robot technology on percutaneous ultrasound-guided liver tumor ablation: Accuracy and feasibility of clinical application

目的:评价导航技术及机器人技术在超声引导下肿瘤热消融治疗中的作用。方法:将琼脂糖球包埋于牛肝中制成实验模型,分别使用常规超声引导方法和两种自行研制的新方法——导航引导方法和机器人辅助方法进行穿刺操作,共进行40次实验,测量针尖到预定点的距离。结果:机器人辅助穿刺方法优于导航引导方法和常规超声引导方法,导航引导方法优于常规超声引导方法。结论:导航技术和机器人技术应用于超声引导下肿瘤的热消融治疗可以提高穿刺的准确性,但需要进一步对系统进行优化改进,以适应临床治疗的需要。

OBJECTIVE： To assess the effects of navigation and robot technology on percutaneous ultrasound-guided liver tumor ablation. METHODS：The liver model tumors were placed inside excised calf livers, and the needle was guided into the tumor using either conventional ultrasound-guided method or two new methods-3D navigation and a method based on a robotic assistant. Totally 40 experiments were performed, and the distance （all methods） from the tip of the needle to the planning point in the tumors was measured. RESULTS： Based on the measurements, the robotic assistant performed better than both the 3D navigation and the conventional ultrasound-guided method. While, the 3D navigation performed better than the conventional ultrasound-guided method. CONCLUSTON： This study demonstrates navigation combined with robot technique is feasible to improve the precision of deploying ablation needles, future studies are warranted to optimize the system to meet requirements in clinical practice.