一个基于封闭呼吸道补偿的肺结节的胸前穿刺机器人系统
Dongyuan Li1, Yuxuan Mao1, Puxun Tu1
1Institute of Biomedical Manufacturing and Life Quality Engineering, State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, 800 Dongchuan Road, Minhang District, Shanghai 200240, China.
Computer methods and programs in biomedicine
|December 29, 2023
概括
这项研究引入了一个机器人系统,用于在胸部手术期间准确地定位肺结节,减少辐射暴露和提高手术效率. 该系统在幻影实验中实现了高精度,证明了其临床潜力.
科学领域:
- 胸部外科手术 胸部外科手术
- 医疗机器人 医疗机器人
- 以图像为指导的干预措施.
背景情况:
- 目前用于肺结节局部化的方法有局限性,例如高辐射暴露,呼吸运动器件和复杂的程序.
- 在胸部外科手术中迫切需要快速而精确的定位系统.
研究的目的:
- 开发和评估一个术前计算机断层扫描 (CT) 图像引导的机器人系统,用于胸腔穿刺.
- 通过提高准确性,效率和安全性,同时减少辐射暴露,解决现有的定位方法的局限性.
主要方法:
- 开发了一个穿孔路径规划算法,考虑了最佳角度,长度和安全边缘的临床约束.
- 实施了一种快速注册方法,使用手术前CT和封闭呼吸补偿来消除手术内辐射.
- 使用机器人穿孔指南作为终端效应器来限制针移动并提高手术内安全性.
主要成果:
- 幻影实验证明了该系统的准确性和可行性.
- 实现了2.46 ± 0.68mm的平均目标点误差 (TPE).
- 实现了1.49 ± 0.45°的平均角度误差 (AE).
结论:
- 拟议的机器人系统确保了胸前穿刺手术的准确性,效率和安全性.
- 该系统减少了针头插入和辐射暴露.
- 在胸部手术中具有很大的临床应用潜力.
相关概念视频
01:30Mechanism of Breathing I: Inspiration
Introduction to Inspiration: The Respiratory System in Action
The respiratory system, an essential network for breathing, comprises the conducting and respiratory zones, each playing a crucial role in the overall process of respiration. Let us explore the detailed mechanism of inspiration, or inhalation, which is the first phase of the respiratory cycle.
Pathway of Air during Inspiration
During inspiration, air enters our body through the nose or mouth and moves through the conducting zone,...
The respiratory system, an essential network for breathing, comprises the conducting and respiratory zones, each playing a crucial role in the overall process of respiration. Let us explore the detailed mechanism of inspiration, or inhalation, which is the first phase of the respiratory cycle.
Pathway of Air during Inspiration
During inspiration, air enters our body through the nose or mouth and moves through the conducting zone,...
01:21Mechanism of Breathing III: The Accessory Muscles
The Role of Accessory Muscles in the Respiratory System
The respiratory system is a complex network that relies on primary respiratory muscles like the diaphragm, but also involves accessory muscles to enhance lung expansion and airflow during both inhalation and exhalation.
Enhancing Inhalation with Accessory Muscles:
Accessory muscles such as the sternocleidomastoid, scalene, intercostal, and abdominal muscles are crucial when additional respiratory effort is required, such as during deep...
The respiratory system is a complex network that relies on primary respiratory muscles like the diaphragm, but also involves accessory muscles to enhance lung expansion and airflow during both inhalation and exhalation.
Enhancing Inhalation with Accessory Muscles:
Accessory muscles such as the sternocleidomastoid, scalene, intercostal, and abdominal muscles are crucial when additional respiratory effort is required, such as during deep...
01:31Anatomy of Respiratory System II: Lower Respiratory Tract
The lower respiratory tract is anatomically composed of several vital structures, including the larynx, trachea, bronchial tree, alveoli, lungs, and pleurae. Each component has a specific function, and all are intricately connected to ensure efficient respiration.
The Larynx
It is located between the pharynx and the trachea, acts as a passageway for air, and hosts several critical structures, such as the epiglottis, vocal cords, and glottis. The epiglottis acts as a gateway, guiding food to the...
The Larynx
It is located between the pharynx and the trachea, acts as a passageway for air, and hosts several critical structures, such as the epiglottis, vocal cords, and glottis. The epiglottis acts as a gateway, guiding food to the...
01:16Oxygen Delivering System II: Venturi Mask and Transtracheal Oxygen
Oxygen therapy is a pivotal aspect of medical care, particularly for patients with respiratory ailments. Two prominent oxygen-delivering systems include the Venturi mask and the transtracheal oxygen catheter.
Venturi Mask
The Venturi mask, named after the Venturi effect, is designed to deliver precise oxygen concentrations. It consists of a large tube with an oxygen inlet that narrows down, causing a pressure drop that pulls air in through adjustable side ports. The mask is a lightweight,...
Venturi Mask
The Venturi mask, named after the Venturi effect, is designed to deliver precise oxygen concentrations. It consists of a large tube with an oxygen inlet that narrows down, causing a pressure drop that pulls air in through adjustable side ports. The mask is a lightweight,...
01:23Oxygen Delivering System III: Tracheostomy and T-piece
Oxygen delivery is critical in clinical care, especially for patients with respiratory disorders or those undergoing surgical procedures. Various systems, such as tracheostomy and the T-piece, deliver oxygen to the lungs, ensuring adequate arterial oxygenation.
Tracheostomy
A tracheostomy is a surgically created opening (stoma) in the anterior part of the trachea. It is used to establish a patient airway, bypass an upper airway obstruction, simplify the removal of secretions, permit long-term...
Tracheostomy
A tracheostomy is a surgically created opening (stoma) in the anterior part of the trachea. It is used to establish a patient airway, bypass an upper airway obstruction, simplify the removal of secretions, permit long-term...