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Accuracy study of a binocular-stereo-vision-based navigation robot for minimally invasive interventional procedures

World Journal of Clinical Cases 2020年第16期8卷 3440-3449页

作者： Ran Wang Ying Han Min-Zhou Luo Nai-Kun Wang Wei-Wei Sun Shi-Chong Wang Hua-Dong Zhang Li-Juan Lu Department of Pain Management Nanjing Drum Tower Hospital The Affiliated Hospital of Nanjing University Medical SchoolNanjing 210008Jiangsu ProvinceChina Institute of Intelligent Manufacturing Technology Jiangsu Industrial Technology Research InstituteNanjing 210000Jiangsu ProvinceChina

BACKGROUND Medical robot is a promising surgical tool,but no specific one has been designed for interventional treatment of chronic *** developed a computed tomography-image based navigation robot using a new registration method with binocular *** kind of robot is appropriate for minimal invasive interventional procedures and easy to *** feasibility,accuracy and stability of this new robot need to be *** To assess quantitatively the feasibility,accuracy and stability of the binocularstereo-vision-based navigation robot for minimally invasive interventional *** A box model was designed for assessing the accuracy for targets at different ***(three sets)lead spheres were embedded in the model as puncture *** entry-to-target distances were set 50 mm(short-distance),100 mm(medium-distance)and 150 mm(long-distance).Puncture procedure was repeated three times for each *** Euclidian error of each puncture was calculated and statistically *** head phantoms were used to explore the clinical feasibility and *** independent operators conducted foramen ovale placement on head phantoms(both sides)by freehand or under the guidance of robot(18 punctures with each method).The operation time,adjustment time and one-time success rate were recorded,and the two guidancemethods were *** On the box model,the mean puncture errors of navigation robot were 1.7±0.9 mm for the short-distance target,2.4±1.0 mm for the moderate target and 4.4±1.4 mm for the long-distance *** the head phantom,no obvious differences in operation time and adjustment time were found among the three performers(P>0.05).The median adjustment time was significantly less under the guidance of the robot than under free *** one-time success rate was significantly higher with the robot(P0.05).CONCLUSION In the laboratory environment,

关键词： navigation robot Binocular stereo vision Interventional procedure Pain management Trigeminal neuralgia Needle placement

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