低剂量CT透视遥控穿刺机器人系统引导穿刺体模的可行性  

Feasibility low dose CT fluoroscopy teleoperation robot system guided puncture of phantom

作　　者：何晓锋 肖越勇 张肖 张啸波 张欣 魏颖恬 张忠亮 薛晓东 张师闻 HE Xiaofeng;XIAO Yueyong;ZHANG Xiao;ZHANG Xiaobo;ZHANG Xin;WEI Yingtian;ZHANG Zhongliang;XUE Xiaodong;ZHANG Shiwen(Department of Radiology, the First Medical Center of PLA General Hospital, Beijing 100853, China)

机构地区：[1]中国人民解放军总医院第一医学中心放射诊断科,北京100853

出　　处：《中国介入影像与治疗学》2021年第11期683-686,共4页Chinese Journal of Interventional Imaging and Therapy

基　　金：国家自然科学基金(81771941、81271674)。

摘　　要：目的观察低剂量CT透视遥控穿刺机器人系统引导穿刺体模靶点的可行性。方法采用A、B、C 3种引导方式(相应设为A、B、C组)对体模内5个靶点(模拟肝脏肿瘤)各进行10次穿刺,A组、B组采用CT引导下徒手穿刺,A组管电流50 mAs,B组管电流30 mAs,余参数相同;C组以CT透视遥控穿刺机器人系统引导穿刺,管电流30 mAs,共计穿刺30次;纪录命中靶点时的操作时间、调针次数、穿刺时间、辐射剂量、穿刺准确率以及针尖与靶点中央的距离(代表穿刺精确度)。结果3组穿刺准确率均为100%。A、B组操作时间、调针次数、穿刺时间及穿刺针尖至靶点中央的距离均大于C组(P均<0.05),上述指标A、B组间差异均无统计学意义(P均>0.05);B、C组辐射剂量低于A组(P<0.05),B、C组间差异无统计学意义(P>0.05)。结论低剂量CT透视遥控穿刺机器人系统引导穿刺体模靶点精确度高,且可减少调针次数、缩短操作时间及降低辐射剂量。Objective To analyze the feasibility of low dose CT fluoroscopy teleoperation robot system guided puncture of phantom target.Methods Three guiding methods(method A,B and C)were used to realize punctures in group A,B and C.Group A and group B were traditional CT-guided free-hand punctures,and the tube current of group A was 50 mAs,of group B was 30 mAs,the other parameters remained same in both groups.Group C were punctures under the guidance of low dose CT fluoroscopy teleoperation robot system,and the tube current was 30 mAs.Each group included 10 times of punctures aimed at 5 targets in phantom imitating liver tumors.The operation time,times of needle adjustment,puncture time,radiation dose,accuracy of puncture target and the distance from puncture needle tip to target center(precision)were recorded.Results The operation time,times of needle adjustment,puncture time and distance from needle tip to target center in group A and group B were all greater than those in group C(all P<0.05),while there was no statistical significance of the above indexes between group A and B(all P>0.05).The radiation dose of groups B and C were lower than that of group A(both P<0.05),and there was no significant difference between groups B and C(P>0.05).Conclusion Guidance of low dose CT fluoroscopy teleoperation robot system could increase the precision of puncture,shorten operation time,reduce the times of needle adjustment and radiation dose compared with those of traditional CT-guided free-hand puncture of phantom target.

关 键 词：穿刺术 体层摄影术 X线计算机 体模 显像术 遥操作 机器人辅助 

分 类 号：R730.8[医药卫生—肿瘤] R815[医药卫生—临床医学]