ID 61277
FullText URL
Author
Komaki, Toshiyuki Department of Radiology, Okayama University Medical School
Hiraki, Takao Department of Radiology, Okayama University Medical School
Kamegawa, Tetsushi Graduate School of Interdisciplinary Science and Engineering in Health Systems, Okayama University Kaken ID publons researchmap
Matsuno, Takayuki Graduate School of Natural Science and Technology, Okayama University
Sakurai, Jun Center for Innovative Clinical Medicine, Okayama University Hospital
Matsuura, Ryutaro Graduate School of Health Sciences, Okayama University Medical School
Yamaguchi, Takuya Division of Radiology, Department of Medical Technology, Okayama University Hospital
Sasaki, Takanori Collaborative Research Center for OMIC, Okayama University Graduate School of Medicine, Dentistry, and Pharmaceutical Sciences Kaken ID researchmap
Mitsuhashi, Toshiharu Center for Innovative Clinical Medicine, Okayama University Hospital Kaken ID researchmap
Okamoto, Soichiro Department of Radiology, Okayama University Medical School
Uka, Mayu Department of Radiology, Okayama University Medical School
Matsui, Yusuke Department of Radiology, Okayama University Medical School
Iguchi, Toshihiro Department of Radiology, Okayama University Medical School
Gobara, Hideo Division of Medical Informatics, Okayama University Hospital ORCID Kaken ID publons researchmap
Kanazawa, Susumu Department of Radiology, Okayama University Medical School Kaken ID publons
Abstract
Objectives
To evaluate the accuracy of robotic CT-guided out-of-plane needle insertion in phantom and animal experiments.
Methods
A robotic system (Zerobot), developed at our institution, was used for needle insertion. In the phantom experiment, 12 robotic needle insertions into a phantom at various angles in the XY and YZ planes were performed, and the same insertions were manually performed freehand, as well as guided by a smartphone application (SmartPuncture). Angle errors were compared between the robotic and smartphone-guided manual insertions using Student’s t test. In the animal experiment, 6 robotic out-of-plane needle insertions toward targets of 1.0 mm in diameter placed in the kidneys and hip muscles of swine were performed, each with and without adjustment of needle orientation based on reconstructed CT images during insertion. Distance accuracy was calculated as the distance between the needle tip and the target center.
Results
In the phantom experiment, the mean angle errors of the robotic, freehand manual, and smartphone-guided manual insertions were 0.4°, 7.0°, and 3.7° in the XY plane and 0.6°, 6.3°, and 0.6° in the YZ plane, respectively. Robotic insertions in the XY plane were significantly (p < 0.001) more accurate than smartphone-guided insertions. In the animal experiment, the overall mean distance accuracy of robotic insertions with and without adjustment of needle orientation was 2.5 mm and 5.0 mm, respectively.
Conclusion
Robotic CT-guided out-of-plane needle insertions were more accurate than smartphone-guided manual insertions in the phantom and were also accurate in the in vivo procedure, particularly with adjustment during insertion.
Keywords
Robotics
Interventional radiology
Animal experiments
Published Date
2019-11-26
Publication Title
European Radiology
Volume
volume30
Issue
issue3
Publisher
Springer
Start Page
1342
End Page
1349
ISSN
0938-7994
NCID
AA10824302
Content Type
Journal Article
language
英語
OAI-PMH Set
岡山大学
Copyright Holders
© Authors
File Version
publisher
PubMed ID
DOI
Web of Science KeyUT
Related Url
isVersionOf https://doi.org/10.1007/s00330-019-06477-1
License
http://creativecommons.org/licenses/by/4.0/
Funder Name
Japan Society for the Promotion of Science
Japan Agency for Medical Research and Development
助成番号
17K10439
25461882
18K07677
15hk0102014h001
15hk0102014h002
15hk0102014h003