Feasibility, safety and accuracy of a CT-guided robotic assistance for percutaneous needle placement in a swine liver model

Abstract Evaluate the feasibility, safety and accuracy of a CT-guided robotic assistance for percutaneous needle placement in the liver. Sixty-six fiducials were surgically inserted into the liver of ten swine and used as targets for needle insertions. All CT-scan acquisitions and robotically-assist...

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Autores principales:	Boris Guiu, Thierry De Baère, Guillaume Noel, Maxime Ronot
Formato:	article
Lenguaje:	EN
Publicado:	Nature Portfolio 2021
Materias:	Medicine R Science Q
Acceso en línea:	https://doaj.org/article/3d9502eb1b524290b2d3a681445545ae
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spelling	oai:doaj.org-article:3d9502eb1b524290b2d3a681445545ae2021-12-02T15:52:58ZFeasibility, safety and accuracy of a CT-guided robotic assistance for percutaneous needle placement in a swine liver model10.1038/s41598-021-84878-32045-2322https://doaj.org/article/3d9502eb1b524290b2d3a681445545ae2021-03-01T00:00:00Zhttps://doi.org/10.1038/s41598-021-84878-3https://doaj.org/toc/2045-2322Abstract Evaluate the feasibility, safety and accuracy of a CT-guided robotic assistance for percutaneous needle placement in the liver. Sixty-six fiducials were surgically inserted into the liver of ten swine and used as targets for needle insertions. All CT-scan acquisitions and robotically-assisted needle insertions were coordinated with breath motion using respiratory monitoring. Skin entry and target points were defined on planning CT-scan. Then, robotically-assisted insertions of 17G needles were performed either by experienced interventional radiologists or by a novice. Post-needle insertion CT-scans were acquired to assess accuracy (3D deviation, ie. distance from needle tip to predefined target) and safety. All needle insertions (43/43; median trajectory length = 83 mm (interquartile range [IQR] 72–105 mm) could be performed in one (n = 36) or two (n = 7) attempts (100% feasibility). Blinded evaluation showed an accuracy of 3.5 ± 1.3 mm. Accuracy did not differ between novice and experienced operators (3.7 ± 1.3 versus 3.4 ± 1.2 mm, P = 0.44). Neither trajectory angulation nor trajectory length significantly impacted accuracy. No complications were encountered. Needle insertion using the robotic device was shown feasible, safe and accurate in a swine liver model. Accuracy was influenced neither by the trajectory length nor by trajectory angulations nor by operator’s experience. A prospective human clinical trial is recruiting.Boris GuiuThierry De BaèreGuillaume NoelMaxime RonotNature PortfolioarticleMedicineRScienceQENScientific Reports, Vol 11, Iss 1, Pp 1-11 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	Medicine R Science Q
spellingShingle	Medicine R Science Q Boris Guiu Thierry De Baère Guillaume Noel Maxime Ronot Feasibility, safety and accuracy of a CT-guided robotic assistance for percutaneous needle placement in a swine liver model
description	Abstract Evaluate the feasibility, safety and accuracy of a CT-guided robotic assistance for percutaneous needle placement in the liver. Sixty-six fiducials were surgically inserted into the liver of ten swine and used as targets for needle insertions. All CT-scan acquisitions and robotically-assisted needle insertions were coordinated with breath motion using respiratory monitoring. Skin entry and target points were defined on planning CT-scan. Then, robotically-assisted insertions of 17G needles were performed either by experienced interventional radiologists or by a novice. Post-needle insertion CT-scans were acquired to assess accuracy (3D deviation, ie. distance from needle tip to predefined target) and safety. All needle insertions (43/43; median trajectory length = 83 mm (interquartile range [IQR] 72–105 mm) could be performed in one (n = 36) or two (n = 7) attempts (100% feasibility). Blinded evaluation showed an accuracy of 3.5 ± 1.3 mm. Accuracy did not differ between novice and experienced operators (3.7 ± 1.3 versus 3.4 ± 1.2 mm, P = 0.44). Neither trajectory angulation nor trajectory length significantly impacted accuracy. No complications were encountered. Needle insertion using the robotic device was shown feasible, safe and accurate in a swine liver model. Accuracy was influenced neither by the trajectory length nor by trajectory angulations nor by operator’s experience. A prospective human clinical trial is recruiting.
format	article
author	Boris Guiu Thierry De Baère Guillaume Noel Maxime Ronot
author_facet	Boris Guiu Thierry De Baère Guillaume Noel Maxime Ronot
author_sort	Boris Guiu
title	Feasibility, safety and accuracy of a CT-guided robotic assistance for percutaneous needle placement in a swine liver model
title_short	Feasibility, safety and accuracy of a CT-guided robotic assistance for percutaneous needle placement in a swine liver model
title_full	Feasibility, safety and accuracy of a CT-guided robotic assistance for percutaneous needle placement in a swine liver model
title_fullStr	Feasibility, safety and accuracy of a CT-guided robotic assistance for percutaneous needle placement in a swine liver model
title_full_unstemmed	Feasibility, safety and accuracy of a CT-guided robotic assistance for percutaneous needle placement in a swine liver model
title_sort	feasibility, safety and accuracy of a ct-guided robotic assistance for percutaneous needle placement in a swine liver model
publisher	Nature Portfolio
publishDate	2021
url	https://doaj.org/article/3d9502eb1b524290b2d3a681445545ae
work_keys_str_mv	AT borisguiu feasibilitysafetyandaccuracyofactguidedroboticassistanceforpercutaneousneedleplacementinaswinelivermodel AT thierrydebaere feasibilitysafetyandaccuracyofactguidedroboticassistanceforpercutaneousneedleplacementinaswinelivermodel AT guillaumenoel feasibilitysafetyandaccuracyofactguidedroboticassistanceforpercutaneousneedleplacementinaswinelivermodel AT maximeronot feasibilitysafetyandaccuracyofactguidedroboticassistanceforpercutaneousneedleplacementinaswinelivermodel
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Feasibility, safety and accuracy of a CT-guided robotic assistance for percutaneous needle placement in a swine liver model

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