两种注册方式对ROSA精准度的影响

Effects of two different registration methods on the accuracy of Robot of Stereotactic Assistant system

目的通过颅骨模型模拟实验的方式,验证两种不同注册方式对立体定向手术机器人(Robot of Stereotactic Assistant,ROSA)精准度的影响。方法利用颅骨模型,在骨性标记组(骨性标记点注册方式)和激光组(激光注册方式),分别进行20次模拟电极植入手术,观察微电极记录针尖端与设计靶点之间的偏差距离范围。结果骨性标记组,20次实验平均注册误差为0.41 mm(最大0.51 mm,最小0.30 mm),平均时间为3 min 15 s,每次注册完成后,执行手术计划微电极尖端均可成功达到直径1 mm空心螺丝钉内圈范围内。通过激光注册方式,20次实验平均花费时间为17 min 22 s,7次记录针尖端可指向直径1 mm空心螺丝钉内圈范围,13次只能满足指向直径1.6 mm空心螺丝钉内圈。结论 ROSA系统精准度高,骨性标记点注册方式比激光注册方式更精确。

Objective To investigate the effects of two different registration methods on the accuracy of Robot of Stereotactic Assistant （ROSA） system via experiments simulated by the skull model. Methods Using the skull model, bony landmark group （bony landmark registration） and laser group （laser registration） were applied to simulate implantation of electrode by 20 times. The deviation range of the distance was observed between microelectrode recording needle tips and designed targets. Results In bony lanfmark group, the average distance error of 20-time experiments was 0.41 mm （maximum 0.51 mm, minimum 0.30 mm）, and the average time was 3 minutes 15 seconds, with the whole microelectrode recording needle tips arrived to the scope of 1 mm diameter hollow screw inner ring. But in laser group, the average time was 17 minutes 22 seconds, with 7 records of needle tips pointed to 1 mm diameter hollow screw inner ring, while the other 13 times only meeting the standard of 1.6 mm diameter hollow screw inner ring. Conclusions ROSA system has a high precision, and bony landmark registration method is more accurate than the laser registration method.