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以MRI指导的HDR前列腺支臂疗法,使用远程操作的可转向针
M de Vries1, M Wijntjes2, J Sikorski2
1Department of Biomechanical Engineering, Delft University of Technology, Delft, The Netherlands. M.devries-2@tudelft.nl.
Journal of robotic surgery
|July 22, 2023
概括
这项研究展示了一种机器人系统,用于精确的前列腺支臂治疗 (BT),使用由磁共振 (MR) 成像指导的活跃可引导针. 该系统克服了局限性,可以准确地准癌症组织,同时避免关键结构.
科学领域:
- 医疗机器人 医疗机器人
- 图像指导疗法是指导图像的疗法.
- 前列腺癌治疗方法 前列腺癌治疗方法
背景情况:
- 前列腺骨干疗法 (BT) 面临着诸如针曲和接入限制等挑战,影响治疗的合规性.
- 目前的方法难以通过复杂的解剖学来导航,并且在放置针时避免关键结构.
研究的目的:
- 为了验证一个带有活性可导针的远程操作机器人系统,用于MRI导向的前列腺骨干疗法.
- 评估系统抵消干扰和进入前列腺内难以到达的区域的能力.
主要方法:
- 开发一种与MIRIAM (MR环境中最少侵入性机器人) 系统和daVinci研究套件 (dVRK) 集成的新型可引导针.
- 使用实时MRI成像,向控制dVRK的操作员提供视觉反.
- 在前列腺幻影中,沿着曲的轨迹执行针方向,以准模拟的瘤组织.
主要成果:
- 该系统在前列腺幻影中实现了1.2 ± 1.0毫米的准误差.
- 在曲的路径上成功引导针,以避免尿道.
- 验证了抵消干扰和导航到目标位置的能力.
结论:
- 远程操作的机器人控制在MRI环境中一个活跃的可引导针是可行的前列腺骨干疗法.
- 该系统显示了提高前列腺BT的精度和安全性的潜力,通过允许进入具有挑战性的区域.
- 这项技术可以提高治疗符合性和前列腺癌管理中的患者结果.
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