Robotic CT-guided out-of-plane needle insertion: comparison of angle accuracy with manual insertion in phantom and measurement of distance accuracy in animals

Objectives To evaluate the accuracy of robotic CT-guided out-of-plane needle insertion in phantom and animal experiments. Methods A robotic system (Zerobot), developed at our institution, was used for needle insertion. In the phantom experiment, 12 robotic needle insertions into a phantom at various...

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Bibliographic Details
Published in:	European radiology 2020-03, Vol.30 (3), p.1342-1349
Main Authors:	Komaki, Toshiyuki, Hiraki, Takao, Kamegawa, Tetsushi, Matsuno, Takayuki, Sakurai, Jun, Matsuura, Ryutaro, Yamaguchi, Takuya, Sasaki, Takanori, Mitsuhashi, Toshiharu, Okamoto, Soichiro, Uka, Mayu, Matsui, Yusuke, Iguchi, Toshihiro, Gobara, Hideo, Kanazawa, Susumu
Format:	Article
Language:	eng
Subjects:	Accuracy Animals Computed tomography Diagnostic Radiology Diameters Experimental Experiments Hip Image reconstruction Image-Guided Biopsy - methods Imaging In vivo methods and tests Insertion Internal Medicine Interventional Radiology Kidney - pathology Kidney - surgery Kidneys Livestock Medicine Medicine & Public Health Muscle, Skeletal - pathology Muscle, Skeletal - surgery Muscles Needles Neuroradiology Orientation Phantoms, Imaging Punctures - methods Radiology Robotic Surgical Procedures - methods Robotics Robotics - methods Smartphone Smartphones Software Surgery, Computer-Assisted - methods Swine Tomography, X-Ray Computed - methods Ultrasound
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Summary:	Objectives To evaluate the accuracy of robotic CT-guided out-of-plane needle insertion in phantom and animal experiments. Methods A robotic system (Zerobot), developed at our institution, was used for needle insertion. In the phantom experiment, 12 robotic needle insertions into a phantom at various angles in the XY and YZ planes were performed, and the same insertions were manually performed freehand, as well as guided by a smartphone application (SmartPuncture). Angle errors were compared between the robotic and smartphone-guided manual insertions using Student’s t test. In the animal experiment, 6 robotic out-of-plane needle insertions toward targets of 1.0 mm in diameter placed in the kidneys and hip muscles of swine were performed, each with and without adjustment of needle orientation based on reconstructed CT images during insertion. Distance accuracy was calculated as the distance between the needle tip and the target center. Results In the phantom experiment, the mean angle errors of the robotic, freehand manual, and smartphone-guided manual insertions were 0.4°, 7.0°, and 3.7° in the XY plane and 0.6°, 6.3°, and 0.6° in the YZ plane, respectively. Robotic insertions in the XY plane were significantly ( p < 0.001) more accurate than smartphone-guided insertions. In the animal experiment, the overall mean distance accuracy of robotic insertions with and without adjustment of needle orientation was 2.5 mm and 5.0 mm, respectively. Conclusion Robotic CT-guided out-of-plane needle insertions were more accurate than smartphone-guided manual insertions in the phantom and were also accurate in the in vivo procedure, particularly with adjustment during insertion. Key Points • Out-of-plane needle insertions performed using our robot were more accurate than smartphone-guided manual insertions in the phantom experiment and were also accurate in the in vivo procedure. • In the phantom experiment, the mean angle errors of the robotic and smartphone-guided manual out-of-plane needle insertions were 0.4° and 3.7° in the XY plane (p < 0.001) and 0.6° and 0.6° in the YZ plane (p = 0.65), respectively. • In the animal experiment, the overall mean distance accuracies of the robotic out-of-plane needle insertions with and without adjustments of needle orientation during insertion were 2.5 mm and 5.0 mm, respectively.
ISSN:	0938-7994 1432-1084