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Robot-Assisted Needle Insertion for CT-Guided Puncture: Experimental Study with a Phantom and Animals

  • Laboratory Investigation
  • Non-Vascular Interventions
  • Published:
CardioVascular and Interventional Radiology Aims and scope Submit manuscript

Abstract

Purpose

This study aimed to evaluate the accuracy and safety of robotic CT-guided needle insertion in phantom and animal experiments.

Materials and Methods

A robotic system was developed for CT-guided needle insertion. For the phantom experiment, a specially made phantom containing multiple spherical was used. 15 robotic and manual insertions were conducted, and the accuracy, time, number of needle insertions, and radiation dose were compared between the robotic and manual insertion using Student’s t-test. For the animal experiment, 20 robotic needle insertions were attempted toward simulated pulmonary nodules in the swine lung. The accuracy and safety of robotic CT-guided needle insertions were evaluated.

Results

In the phantom experiment, the mean accuracies of manual and robotic insertion were 1.8 ± 0.3 mm and 1.9 ± 0.2 mm. The accuracy of robotic needle insertion had no significant difference with manual needle insertion, but the number of needle insertions and radiation dose of the robotic needle placement significantly decreased compared to manual needle placement. In the animal experiment, the mean accuracy of the robotic needle insertion was 3.8 ± 1.3 mm. The time for the whole needle insertion was 14.4 ± 4.8 min. The whole robotic needle insertions were safe and only one mild pneumothorax occurred.

Conclusion

CT-guided robotic needle insertion showed accuracy comparable to manual needle insertion, but the number of needle insertions, confirmatory scans, and radiation exposure had been reduced significantly. In future, we will further apply the robotic system to clinical experiments.

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Funding

This study was funded by Beijing TrueHealth Medical Technology Co., Ltd.

Author information

Authors and Affiliations

  1. School of Mechanical Engineering and Automation, Beihang University, Beijing, China

    Xiangqian Chen & Tianmiao Wang

  2. School of Biological Science and Medical Engineering, Beihang University, No. 37 Xueyuan Road, Haidian District, Beijing, 100191, People’s Republic of China

    Yadong Yan & Yu Wang

  3. Beijing TrueHealth Medical Technology Co., Ltd., Beijing, China

    Ailing Li

Authors
  1. Xiangqian Chen
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  2. Yadong Yan
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  3. Ailing Li
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  4. Tianmiao Wang
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  5. Yu Wang
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Contributions

XC designed the study and edited the final manuscript. YY and AL collected the data, performed a literature review, and produced the draft manuscript. TW helped with the writing of the manuscript. YW conceived the study. All authors have read and agreed to the published version of the manuscript.

Corresponding author

Correspondence to Yu Wang.

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Conflict of interest

The authors declare no conflict of interest.

Ethical Approval

The animal experiment was approved by the Experimental Animal Ethics Committee of Silver Snake (Guangzhou) Medical Technology Co., Ltd.

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For this type of study, informed consent is not required.

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For this type of study, consent for publication is not required.

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Chen, X., Yan, Y., Li, A. et al. Robot-Assisted Needle Insertion for CT-Guided Puncture: Experimental Study with a Phantom and Animals. Cardiovasc Intervent Radiol 46, 128–135 (2023). https://doi.org/10.1007/s00270-022-03301-0

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  • DOI: https://doi.org/10.1007/s00270-022-03301-0

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