摘要
目的探讨磁导航系统引导下机器人穿刺的准确性。方法将圆形泡沫球橡皮泥包埋置于颅骨模型内制备实验模型,扫描模型CT数据行三维重建,并在磁导航下规划穿刺路径。以泡沫球球心作为穿刺目标,由5名医生分别行磁导航系统引导下机器人穿刺(机器人穿刺组)和人工穿刺(人工穿刺组),每人穿刺10次。统计分析两种方式的穿刺参数。结果两组穿刺成功率均为100%,人工穿刺组穿刺误差(3.05±1.05)mm,穿刺用时(38.31±4.21)s;机器人穿刺组穿刺误差(1.03±0.21)mm,穿刺用时(6.99±0.83)s;两组间穿刺时间、穿刺误差差异均有统计学意义(P<0.0001)。两组中5名医生间穿刺误差、穿刺时间差异均无统计学意义(P>0.05)。相关性分析显示:人工穿刺组轨迹距离与穿刺时间、穿刺误差均无相关(P>0.05);机器人穿刺组轨迹距离与穿刺误差无相关(P>0.05),与穿刺时间具有相关性(P<0.05)。结论磁导航系统引导下机器人穿刺比人工穿刺更精确,且缩短穿刺用时。
Objective To investigate the accuracy of robotic puncture guided by magnetic navigation system.Methods The experimental model was prepared by embedding plasticine of round foam ball into the skull model.The model CT data was used to 3D reconstruction,and the puncture path was planed under magnetic navigation.The center of foam ball was considered as the puncture target,and 5 doctors performed robot puncture(robot puncture group)and artificial puncture(artificial puncture group)respectively under the guidance of magnetic navigation system,everyone punctured 10 times.Then,the puncture parameters of two methods were analyzed.Results The puncture success rates of both groups were 100%,the puncture error was 3.05±1.05 mm and the puncture time was 38.31±4.21 s in the artificial puncture group,while the puncture error was 1.03±0.21 mm and the puncture time was 6.99±0.83 s in the robot puncture group.There were significant differences in puncture time and puncture error between the two groups(P<0.0001).But no significant difference was found in puncture error and puncture time between 5 doctors in the two groups(P>0.05).Correlation analysis showed there was no correlation between trajectory distance and puncture time or puncture error in the artificial puncture group(P>0.05),while the trajectory distance was not related to the puncture error(P>0.05),but related to the puncture time in the robot puncture group(P<0.05).Conclusion Robot puncture guided by the magnetic navigation system is more accurate than artificial puncture,and can shorten the puncture time.
作者
王志浩
余志平
侯红军
田伟
张海清
韦毅
刘涛
丛海波
Wang Zhihao;Yu Zhiping;Hou Hongjun;Tian Wei;Zhang Haiqing;Wei Yi;Liu Tao;Cong Haibo(Department of Orthopaedics,Weihai Central Hospital,Weihai,Shandong 264400,China;Department of Neurosurgery,Weihai Central Hospital,Weihai,Shandong 264400,China)
出处
《中国微侵袭神经外科杂志》
CAS
2020年第7期322-325,共4页
Chinese Journal of Minimally Invasive Neurosurgery
基金
泰山学者工程专项经费资助项目(编号:NO.ts201511110)。
关键词
机器人穿刺
人工穿刺
磁导航
神经外科
robot puncture
artificial puncture
magnetic navigation
neurosurgery
