Affiliation:
1. State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China
2. Department of Biomedical Engineering College of Life Science and Technology Huazhong University of Science and Technology Wuhan China
3. Department of Urology Union Hospital Tongji Medical College Huazhong University of Science and Technology Wuhan China
Abstract
AbstractBackgroundRobotic systems are increasingly used to enhance clinical outcomes in prostate intervention. To evaluate the clinical value of the proposed portable robot, the robot‐assisted and robot‐targeted punctures were validated experimentally.MethodThe robot registration utilising the electromagnetic tracker achieves coordinate transformation from the ultrasound (US) image to the robot. Subsequently, Transrectal ultrasound (TRUS)‐guided phantom trials were conducted for robot‐assisted, free‐hand, and robot‐targeted punctures.ResultsThe accuracy of robot registration was 0.95 mm, and the accuracy of robot‐assisted, free‐hand, and robot‐targeted punctures was 2.38 ± 0.64 mm, 3.11 ± 0.72 mm, and 3.29 ± 0.83 mm sequentially.ConclusionThe registration method has been successfully applied to robot‐targeted puncture. Current results indicate that the accuracy of robot‐targeted puncture is slightly inferior to that of manual operations. Moreover, in manual operation, robot‐assisted puncture improves the accuracy of free‐hand puncture. Accuracy superior to 3.5 mm demonstrates the clinical applicability of both robot‐assisted and robot‐targeted punctures.
Funder
National Key Research and Development Program of China
Subject
Computer Science Applications,Biophysics,Surgery