A coordinate positioning puncture method under robot-assisted CT-guidance: phantom and animal experiments

Purpose: To evaluate the accuracy of the robot-assisted computed tomography (CT)-guided coordinate positioning puncture method by phantom and animal experiments. Material and methods: In the phantom experiment, seven robot-assisted punctures were made to evaluate the accuracy of the method. In the animal experiment, 18 punctures (nine robotic and nine manual) were made in the livers of nine rabbits. The indicators, such as needle-tract length, angle deviation, puncture accuracy, number of scans required, and radiation exposure dose were compared between manual and robotic punctures. The paired-samples t-test was used for analysis. Results: In the phantom experiment, the mean accuracy of seven punctures was 2.67 mm. In the animal experiment, there was no significant difference in needle-tract length (32.58 mm vs. 34.04 mm, p =.606), angle deviation (17.21° vs. 21.23° p =.557) and puncture accuracy (8.42 vs. 8.77 mm, p =.851) between the two groups. However, the number CT scans required (2.44 vs. 3.33, p =.002), and the radiation exposure dose (772.98 vs. 1077.89 mGy/cm, p =.003) were lower in the robot group than in the manual group. Conclusions: The coordinate positioning puncture method under robot-assisted CT-guidance can reach an accuracy that is comparable to that of the traditional manual CT-guided puncture method and with fewer CT scanning times accompanied with a lower radiation dosage.