Ultrasound-guided robot-assisted percutaneous puncture： an experimental study

doi:10.3877/cma.j.issn.1672-6448.2024.09.008

Abstract

Abstract:

Objective

To assess the accuracy and feasibility of ultrasound-guided robot-assisted percutaneous puncture.

Methods

Two physicians with different years of experience conducted ultrasound-guided puncture experiments on thyroid nodule phantoms using both the puncture robot-assisted system and manual puncture， each for 10 times. The puncture needle positioning error， directional error， and total operation time were recorded. Additionally， the consistency among physicians with different experience levels when using the puncture robot-assisted system for puncture was assessed.

Results

The robot-assisted group demonstrated higher puncture accuracy than the manual group， but with longer operation times. The average needle tip error in the robot-assisted group versus the manual group was （0.62±0.26） mm vs （1.29±0.38） mm， the average needle axis angle error was （1.04±0.63）° vs （2.01±0.86）°， and the average operation time was （26.45±12.44） s vs （20.58±9.86） s；the differences were statistically significant between the two groups （ t=9.187， P＜0.001； t=3.409， P=0.003；t=-2.289， P=0.034）. Operators with different experiences using the robot-assisted system for puncture showed good consistency in needle tip error and operation time， with intraclass correlation coefficient （95% confidence interval） values of 0.783 （0.126-0.946） and 0.903 （0.610-0.876）， respectively （P＜0.05）.

Conclusion

Compared to manual puncture， the robot-assisted system exhibits higher accuracy and stability in ultrasound-guided thyroid nodule puncture procedures. However， the use of the robot-assisted system increases the operation time.

Key words: Ultrasonography, Ultrasound-guided percutaneous puncture, Surgical robot, Minimally invasive

Jiali Sun, Lin Jin, Cuiqin Shen, Qingqing Chen, Yanping Lin, Zhaojun Li, Dong Xu. Ultrasound-guided robot-assisted percutaneous puncture： an experimental study[J]. Chinese Journal of Medical Ultrasound (Electronic Edition), 2024, 21(09): 884-889.

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URL: https://chaosheng.cma-cmc.com.cn/EN/10.3877/cma.j.issn.1672-6448.2024.09.008

https://chaosheng.cma-cmc.com.cn/EN/Y2024/V21/I09/884

Figures/Tables 4

References 20

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操作者	次数	针尖定位误差（mm）	针轴角度误差（°）	操作时间（s）
操作者1
徒手穿刺	10	1.37±0.34	2.00±0.79	20.43±8.64
机器人辅助	10	0.63±0.26	1.11±0.60	25.00±9.52
t值		8.498	2.365	-1.539
P值		＜0.001	0.021	0.158
操作者2
徒手穿刺	10	1.22±0.42	2.02±0.97	20.73±11.44
机器人辅助	10	0.62±0.28	0.96±0.67	27.90±15.21
t值		5.109	2.361	-1.663
P值		＜0.001	0.021	0.131

操作者	次数	针尖定位误差（mm）	针轴角度误差（°）	操作时间（s）
操作者1
徒手穿刺	10	1.37±0.34	2.00±0.79	20.43±8.64
机器人辅助	10	0.63±0.26	1.11±0.60	25.00±9.52
t值		8.498	2.365	-1.539
P值		＜0.001	0.021	0.158
操作者2
徒手穿刺	10	1.22±0.42	2.02±0.97	20.73±11.44
机器人辅助	10	0.62±0.28	0.96±0.67	27.90±15.21
t值		5.109	2.361	-1.663
P值		＜0.001	0.021	0.131

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