Needle Steering for Robot-Assisted Insertion into Soft Tissue:A Survey

Needle insertion is a common surgical procedure used in diagnosis and treatment.The needle steering technologies make continuous developments in theoretical and practical aspects along with the in-depth research on needle insertion.It is necessary to summarize and analyze the existing results to promote the future development of theories and applications of needle insertion.Thus,a survey of the state of the art of research is presented on algorithms of needle steering techniques,the surgical robots and devices.Based on the analysis of the needle insertion procedure,the concept of needle steering is defined as a kinematics problem,which is to place the needle at the target and avoid the obstacles.The needle steering techniques,including the artificial potential field method and the nonholonomic model,are introduced to control the needles for improving the accuracy.Based on the quasi-static thinking,the virtual spring model and the cantilever-beam model are developed to calculate the amount of needle deflection and generate the needle path.The phantoms instead of the real tissue are used to verify the models mentioned in most of the experimentations.For the desired needle trajectories,the image-guided robotic devices and some novel needles are presented to achieve the needle steering.Finally,the challenges are provided involving the controllability of the long flexible needle and the properties of soft tissue.The results and investigations can be used for further study on the precision and accuracy of needle insertion.

CLINICAL OBSERVATION ON THE TREATMENT OF CHRONIC FATIGUE SYNDROME WITH DEEPLY PUNCTURED ELONGATED NEEDLE COMBINED WITH COMPREHENSIVE NURSING

Objective： To observe the therapeutic effect of deep puncture of Zusanli （足三里 ST 36） and Qihai （气海 CV 6） with elongated needle combined with comprehensive nursing in the treatment of chronic fatigue syndrome （CFS） so as to provide new way and effective method for CFS. Methods： A total of 100 cases of CFS patients were evenly randomized into treatment group and control group which were treated with elongated needle puncture of ST 36 and CV 6 plus nursing and oral ackninistration of Shiquan Dobu Tong （十全大补汤 Decoction of Ten Powerful Tonics） separately. Acupuncture and medication were given once daily, with 7 sessions being a therapeutic course, 4 courses altogether. Results： After 4 courses of treatment, of the two 50 cases in treatment and control groups, 4 （8.0%） and 2 （4.0%） were cured, 37 （74.0%） and 16 （32.0%） experienced marked im- provernent, 6 （ 12.0 % ） and 19 （38.0 % ） had improvement, 3 （6.0 % ） and 13 （26.0 % ） tailed, with the total effective rates being 94.0% （47/50） and 74.0% （37/50） respectively. The total effective rate and markedly effective rate of treatment group were significantly higher than those of control group （P〈0.05, 0.01）. Conclusion; Deep puncture of Zusenli （ST 36） and Qihai （CV 6） with elongated needle combined with comprehensive nursing has a definite therapeutic effect in the treatment of chronic fatigue syndrome.

Evaluation of vascular puncture needles with specific modifications for enhanced ultrasound visibility:In vitro study

AIM: To determine which modification to a vascular puncture needle results in increased visualization during ultrasound (US)-guided vascular puncture. METHODS: We evaluated US images of a phantom made of degassed gelatin and each of the following four modified versions of a commercially available vascular puncture needle (18 G): re-cut needle, dimple needle, rough-surface needle (rough over the sections of needle located 3-6 mm from the tip), and a needle with four side holes (side holes covered by the sheath). An unmodified commercially available puncture needle was used as a control. Five interventional radiologists evaluated image quality according to the following classification grade:?I, invisible; II, poor; III, moderate; IV, good; V, excellent. RESULTS: The highest score for needle visualization was obtained for the needle with four side holes. The re-cut needle scored the same as the control. Multiple comparisons were conducted using overall evaluation scores among the commercially available needle, dimple needle, rough-surface needle (3-6 mm), and the needle with four side holes. A significantly higher score was obtained for the needle with four side holes (P < 0.05/6). CONCLUSION: The needle with four side holes was prominently visualized and gained a significantly higher score (compared with the other needles) in a phantom evaluation.

An effective algorithm for needle tip displacement compensation in robot-assisted percutaneous surgery

This paper presents an automatic compensation algorithm for needle tip displacement in order to keep the needle tip always fixed at the skin entry point in the process of needle orientation in robot-assisted percutaneous surgery. The algorithm, based on a two-degree-of-freedom （2-DOF） robot wrist （not the mechanically constrained remote center of motion （RCM） mechanism） and a 3-DOF robot ann, firstly calculates the needle tip displacement caused by rotational motion of robot wrist in the arm coordinate frame using the robotic forward kinematics, and then inversely compensates for the needle tip displace- ment by real-time Cartesian motion of robot arm. The algorithm achieves the function of the RCM and eliminates many mechanical and virtual constraints caused by the RCM mechanism. Experimental result demonstrates that the needle tip displacement is within 1 inm in the process of needle orientation.

Efficacy and safety of computed tomography-guided microwave ablation with fine needle-assisted puncture positioning technique for hepatocellular carcinoma

BACKGROUND In microwave ablation(MWA), although computed tomography(CT) scanning can overcome gas interference, it cannot achieve real-time localization. Therefore, the puncture technique is more important in CT-guided ablation.AIM To compare the fine needle-assisted puncture(FNP) positioning technique and the conventional puncture(CP) technique for the safety and efficacy of CT-guided MWA in treating hepatocellular carcinoma(HCC).METHODS This retrospective study included 124 patients with 166 tumor nodules from February 2018 and June 2021. Seventy patients received CT-guided MWA under the FNP technique(FNP group), and 54 patients received MWA under the CP technique(CP group). Intergroup comparisons were made regarding local tumor progression(LTP), recurrence-free survival(RFS), overall survival(OS), and complications. The influencing variables of LTP and RFS were analyzed through univariate and multivariate regressions.RESULTS The 1-, 2-, and 3-year cumulative incidences of LTP in the FNP group were significantly lower than those in the CP group(7.4%, 12.7%, 21.3% vs 13.7%, 32.9%, 36.4%;P = 0.038). The 1-, 2-, and 3-year RFS rates in the FNP group were significantly higher than those in the CP group(80.6%, 73.3%, 64.0% vs 83.3%,39.4%, and 32.5%, respectively;P = 0.008). The FNP technique independently predicted LTP and RFS. Minor complications in the FNP group were lower than those in the CP group(P < 0.001). The difference in median OS was insignificant between the FNP and CP groups(P = 0.229).CONCLUSION The FNP technique used in CT-guided MWA may improve outcomes in terms of LTP, RFS, and procedure-related complications for HCC.

Ischemic Apoplexy-Induced Sequelae Treated by Penetrating Puncture with Long Needles

In recent years, the author have treated 47 cases of ischemic apoplexy-induced sequelae with long needles to perform penetrating puncture, and achieved satisfactory results as reported in the following.

The diagnostic value of TRUS guided needle puncture on seminal vesicle diseases

To evaluate the diagnostic value of transrectal ultrasonography (TRUS) guided transperineal needle puncture on seminal vesicle (SV) diseases.Methods This series included 28 patients (mean age,38 years) with hematospermia and dysuria.Their mean disease course was 15.8 months.TRUS and TRUS guided aspiration were used to evaluate patients with abnormality found by ultrasonography.The patients underwent TRUS guided transperineal puncture for SV or cysts.The seminal vesicle fluid (SVF) was aspirated and sent for bacteriological culture and cytological assay.Imaging contrast was injected into the SV or cysts for X-ray examination.All the patients were followed up for 1 month after puncture;then repeated puncture was done.For solid lesion,biopsy was performed for pathologic examination.Results The abnormal findings of TRUS included;20 cases with SV and/or ejaculatory duct dilation,5 cases with SV cyst,3 cases with SV carcinoma.Other findings included;thickening of the SV wall (6 cases),calcification (3 cases) or calculi (1 case) of the SV.All the bloody fluid was aspirated from the dilated SV or cyst,including 17 cases (19 lesions) of SV dilation,3 cases of ejaculatory duct dilation and 5 cases of SV cyst.Bacteria in SVF or cyst fluid were found in 17 cases,and antibiotics-resistant bacteria in 10 of the 17 cases.There was no complication of the puncture except for mild hematuria in 7 cases,and it disappeared within 3 days.Twenty-six cases were followed up for 6-36 months.Repeat puncture with antibiotics perfusion was done in 19 cases; the hematospermia disappeared in 6 cases and 3 cases after puncture was done once and twice,respectively.However,10 cases still had persistent hematospermia after 3 times of puncture.Conclusion The morphological changes of SV can be directly observed by TRUS,and the “pure” SVF,cyst fluid or biopsy tissue can be obtained.And subsequent bacteriologic,cytologic histopathologic methods and imaging examination can help make the diagnosis.TRUS guided transperineal injection of antibiotics into SV may also have great value in treatment of refractory hematospermia.8 refs.

Effect of urokinase in combined with minimally invasive hematoma puncture with YL-1 type needle on the blood sugar and serum CRP in patients with hypertensive cerebral hemorrhage

Objective:To observe the clinical efficacy of urokinase in combined with minimally invasive hematoma puncture with YL-1 type needle in the treatment of hypertensive cerebral hemorrhage and the effect on blood sugar and serum CRP.Methods:A total of 84 patients with hypertensive cerebral hemorrhage who were admitted in our hospital were included in the study and divided into the minimally invasive group (n=53) and the conservative group (n=31) according to different treatment protocols. The patients in the two groups were given routine drug treatments. The patients in the observation group were given urokinase in combined with minimally invasive hematoma puncture with YL-1 type needle. The blood sugar and serum CRP levels before and after treatment in the two groups were compared. CT was performed to reexamine the cerebral hematoma and edema volume.Results: The serum CRP and blood sugar levels 3, 7 and 14 d after treatment in the minimally invasive group were significantly lower than those in the conservative group (P<0.05). The cerebral hematoma and edema volume 1, 3, 7, and 14 d after treatment in the minimally invasive group was significantly lower than that in the conservative group (P<0.05).Conclusions: Urokinase in combined with minimally invasive hematoma puncture with YL-1 type needle in the treatment of hypertensive cerebral hemorrhage can significantly alleviate the brain tissue injury, reduce the systemic inflammatory reaction and blood sugar level, and contribute to the rehabilitation.

Treatment for Injury of Superior Clunial Nerves by Triple Puncture Needling with Massage

Superior clunial nerve injury occupies a high percentage in lumbocluneal tissue injuries. It is commonly seen in winter and in athletic competition and training. The authors have treated 67 cases of pain of the superior clunial nerves by triple puncture needling combined with massage and obtained satisfactory therapeutic result. A report follows.

Risk Factors of Complications after CT-guided Percutaneous Needle Biopsy of Lumps Near Pulmonary Hilum

The factors influencing the incidence of common complications（pneumothorax and pulmonary hemorrhage） of CT-guided percutaneous needle biopsy of lumps near pulmonary hilum were investigated. CT-guided percutaneous needle biopsy of lumps near pulmonary hilum was performed on 48 patients. The complications of pneumothorax and pneumorrhagia as well as the contributing factors were analyzed statistically. The major complications associated with CT-guided needle biopsy included pneumothorax（13 cases, 27.1%） and pulmonary hemorrhage（14 cases, 20.24%）. ？2 test revealed that pneumothorax was associated with the lesion size and depth of needle penetration, and pulmonary hemorrhage with the depth of needle penetration and needle retention time with a significant P value. Pneumothorax was observed in 7 cases（17.5%） out of 40 cases with diameter of mass greater than 3 cm, and in 6 cases（60%） out of 10 cases with depth of needle penetration greater than 4 cm. Additionally, pulmonary hemorrhage was identified in 12 cases（41.4%） out of 29 cases with needle retention time longer than 15 min, and pulmonary hemorrhage in 7 cases（70%） out of 10 cases with depth of needle penetration greater than 4 cm. CT-guided percutaneous needle biopsy of lumps near pulmonary hilum is safe and effective. The key factors to prevent the complications include correct evaluation of lesion size, depth of needle penetration and the needle retention time before the operation. Key words： biopsy, CT-guided; hilum; pneumothorax; pulmonary hemorrhage

OBSERVATION ON THERAPEUTIC EFFECTS OF BLOOD-LETTING PUNCTURE WITH CUPPING IN ACUTE TRIGEMINAL NEURALGIA

In the present paper, 45 cases of acute trigemina] neuralgia were treated and observed by comparative method. Results showed no significant difference in transient analgesic effect (P】 0.05) but a significant difference in therapeutic effect (P【 0.01) between the treatment and control groups. This indicates that blood-letting puncture with cupping is an effective therapy for the disease.

POINT PENETRATION AND DEEP PUNCTURE THERAPIES FOR SCIATICA:AN OBSERVATION ON 108 CASES

In 198 patients with sciatica, 108 cases were randomly chosen as treatment group with point penetration and deep puncture therapies by elongated needle and a group of 9O cases was received filiform needle therapy as control group. In the control group, the way of purgation by twirling the needle was used. The results showed that the total effective rate of the treatment group was 93. 52 %,while in the control group, it was 68. 89 %, X2 = 20. 46, P< 0. 01. It proved that point penetration and deep puncture therapies had better analgesic effect than that of the filifom needle.

CLINICAL OBSERVATION AND HEMORRHEOLOGICAL STUDY ON THE TREATMENT OF CEREBRAL INFARCTION WITH ACUPUNCTURE PLUS BLOOD-LETTING PUNCTURE

The cerebral infarction was treated with acupuncture and blood-letting puncture and observed with experimental hemorrheological method. The results indicated that the blood-letting puncture was more advantageous than conventional acupuncture in the treatment on cerebralinfarction. It was suggested that the mechanism of the blood-letting puncture might be related to lowering down the blood viscosity principally. It is an effective therapeutic method worthy spreading inclinic.

Path prediction of flexible needles based on Fokker-Planck equation and disjunctive Kriging model

Path prediction of flexible needles based on the Fokker-Planck equation and disjunctive Kriging model is proposed to improve accuracy and consider the nonlinearity and anisotropy of soft tissues.The stochastic differential equation is developed into the Fokker-Planck equation with Gaussian noise,and the position and orientation probability density function of flexible needles are then optimized by the stochastic differential equation.The probability density function obtains the mean and covariance of flexible needle movement and helps plan puncture paths by combining with the probabilistic path algorithm.The weight coefficients of the ordinary Kriging are extended to nonlinear functions to optimize the planned puncture path,and the Hermite expansion is used to calculate nonlinear parameter values of the disjunctive Kriging optimization model.Finally,simulation experiments are performed.Detailed comparison results under different path planning maps show that the kinematics model can plan optimal puncture paths under clinical requirements with an error far less than 2 mm.It can effectively optimize the path prediction model and help improve the target rate of soft tissue puncture with flexible needles through data analysis and processing of the mean value and covariance parameters derived by the probability density and disjunctive Kriging algorithms.

PUNCTURING THE EMPIRICAL POINT SHENGEN IN TREATMENT OF 101 CASES OF APOPLECTIC HEMIPLEGIA

By needling chiefly an empirical point Shengen with the penetration method, a total effective rate of 96.04% was obtained in 101 cases of apoplectic hemiplegia. In comparison with 38 controls, either the therapeutic effects and courses or other indices observed in the needling group were shown to be encouraging.

Warm needling moxibustion at Xià guān(下关 ST 7) plus shallow Puncture for Bell's palsy in pregnancy

Objective To observe the effects of a protocol consisting of warm needling with moxibustion at Xiàguān（下关 ST 7） plus shallow puncture on Bell＇s palsy（BP） in pregnancy.Methods Thirteen patients with BP received an intervention of warm needling moxibustion at ST 7 plus shallow puncture,and were evaluated using the House–Brackmann facial nerve grading system（HB） before and after intervention.Result After intervention,the HB grade improved significantly（P0.05）.Conclusion Warm needling moxibustion plus shallow puncture is a safe and effective therapy for pregnant BP patients.BP in pregnancy appears to be more frequent in the last trimester.The severity of nerve injury and the timing for the first visit to the doctor after the onset of facial paralysis are essential factors for the recovery and prognosis of pregnant with BP.

细针穿刺、粗针穿刺及两者联合诊断甲状腺结节的前瞻性对比研究

目的:对比研究超声引导下细针穿刺(FNA)、粗针穿刺(CNB)和粗细针穿刺结合(FNA+CNB)对同一甲状腺结节的诊断效能。方法:选取105例甲状腺结节患者(112个结节)作为研究对象,对每个结节同时行超声引导下细针(FNA)和粗针(CNB)穿刺,分别比较FNA、CNB、FNA+CNB对甲状腺结节的诊断效能;根据超声特征(结节最大径、粗大钙化、纵横比、囊实性)进行分组,比较FNA、CNB的诊断准确度。结果:剔除14个穿刺失败结节后,剩余98个结节进入研究,FNA、CNB取材成功率分别为89.4%、97.3%(P<0.05)。FNA、CNB、FNA+CNB诊断甲状腺结节的敏感度分别为93.1%、75.9%、100%,FNA、FNA+CNB优于CNB(P<0.05);特异度分别为60%、90%、57.5%,CNB优于FNA、FNA+CNB(P<0.05);阴性预测值分别为85.7%、72%、100%,FNA+CNB优于CNB(P<0.05)。ROC曲线分析显示,CNB曲线下面积(AUC)大于FNA(0.829 vs.0.766,P<0.05)。亚组分析中,对于直径<0.5 cm的结节,CNB诊断特异度高于FNA(100%vs.50%,P=0.014),FNA诊断敏感度高于CNB(93.3%vs.46.7%,P=0.033)。结节大小和纵横比可能会影响CNB的诊断结果,直径≥0.5 cm敏感度更高,纵横比≤1准确度更高(P<0.05);结节囊实性可能会影响FNA诊断结果,实性结节准确度更高(P<0.05)。结论:CNB对甲状腺结节良恶性的检出具有更高的诊断价值,但直径<0.5cm的结节使用FNA具有更高的敏感度。

同轴活检技术应用于CT引导经皮肺活检对不明原因肺部病变的临床意义

目的探讨同轴活检技术应用于CT引导经皮肺活检对不明原因肺部病变的临床意义。方法选取2015年5月至2019年5月清远市人民医院收治的306例不明原因肺部阴影患者作为研究对象,按照不同活检方式分为实验组(n=154)与对照组(n=152)。实验组采用同轴活检技术,对照组采用单纯针刺活检技术。比较两组手术成功率、并发症发生率、成功手术时间和成功手术接受辐射剂量。结果实验组小结节病灶手术成功率为98.3%,高于对照组的84.5%,差异有统计学意义(P<0.05);实验组深部病灶手术成功率为98.9%,高于对照组的90.7%,差异有统计学意义(P<0.05);实验组气胸、咯血发生率均低于对照组,差异有统计学意义(P<0.05);实验组成功手术时间短于对照组,成功手术接受辐射剂量少于对照组,差异有统计学意义(P<0.05)。结论同轴活检技术应用于CT引导经皮肺活检中对疑难穿刺病灶(小病灶和深部病灶)的手术成功率高于单纯针刺活检技术,可降低气胸和咯血发生率,减少患者接受的辐射剂量,缩短手术时间,且该项技术操作简单,成本低廉,只需在传统的单纯针刺活检技术的基础上附加同轴技术即可,值得临床推广应用。

CT引导下肺小结节序贯穿刺、双针提插活组织检查

目的探索肺结节序贯穿刺模式、双针提插活检方式的临床应用价值。方法纳入2020年3月至2023年2月收治的孤立性肺结节患者57例。采用序贯穿刺模式和双针提插方式对肺结节进行穿刺和活组织检查。记录同轴针退针率、脱靶率、靶周率、靶心率,活检组织条长度和肺结节活检成功率,以及并发症。结果57例患者中,肺结节穿刺退针2例(3.5%)。针尖与肺结节空间位置:靶心52例(91.2%),靶周5例(8.8%),脱靶0例。切割槽内活检组织条长度:等于靶结节直径42例(73.7%),≥靶结节半径11例(19.3%),<靶结节半径4例(%),组织条缺如0例。肺结节活检成功57例(100%)。并发症:气胸12例(21.1%),肺针道出血10例(17.5%),活检区出血14例(24.6%)。结论受内应力影响,现行同步穿刺模式和活检方式不是理想的肺结节穿刺模式和活检方式。针尾挂线方法可消除内应力影响,序贯穿刺模式可增加肺结节穿刺精度,双针提插法可提高活检成功率,并发症发生率在可接受范围。

某市三甲综合医院工作人员血源性职业暴露监测分析

目的进一步了解玉林市红十字会医院的医院血源性职业状况与特点,重点分析乙型肝炎、艾滋病职业暴露情况,进一步了解玉林市红十字会医院医院血源性职业状况与特点,为制定有效的职业暴露防护措施提供参考。方法基于2018年1月—2022年12月某市三甲综合医院院感科登记的医院工作人员血源性职业暴露资料,对发生职业暴露人群的职业分布、暴露发生场所、暴露方式、暴露环节、职业暴露病原体分布、预防用药情况分别进行统计分析。结果共上报职业暴露403例,职业暴露发生人群以护士占首位,202例,占50.12%;发生职业暴露较多的场所为内科病房168例,占41.69%;发生职业暴露较多的方式是针刺伤320例,占79.40%;发生职业暴露较多的环节是拔针158例,占39.21%;暴露源是乙型肝炎病毒的94例,20例未产生有效血清保护性抗体,接种乙肝疫苗并注射乙肝免疫球蛋白,占21.28%;暴露源是获得性免疫缺陷综合征(acquired immune deficiency syndrome,AIDS)的22例,经艾滋病职业暴露事故处理小组评估,有12例启用基础预防用药。结论医院要结合自身实际情况,规范操作流程,加强医务人员职业安全培训,建立完善的职业防护措施体系,才能有效地降低职业暴露风险。