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Robotic system for accurate percutaneous puncture guided by 3D–2D ultrasound

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International Journal of Computer Assisted Radiology and Surgery Aims and scope Submit manuscript

Abstract

Purpose

Ultrasound (US)-guided robotic systems can reduce the reliance on the experience and skills of surgeons and enable automatic and accurate percutaneous puncture. Two-dimensional (2D) and three-dimensional (3D) US guidance have various advantages and disadvantages. The planned puncture path in the US data directly affects the puncture quality and tissue injury risk. It is difficult to define the optimal path in 2D US images and achieve accurate and safe puncture under the guidance of 3D US volume. This study aims to propose a robotic system guided by 3D–2D US to realize accurate and safe percutaneous puncture.

Methods

We proposed a 3D–2D US-guided percutaneous puncture robotic system by integrating a 3D US scanning robotic system and a 2D US-guided puncture robotic system. The optimal spatial puncture path that targets the lesion and avoids other important tissues was determined in the 3D US volume reconstructed through robotic US scanning. Thereafter, the puncture robot was placed at the puncture site determined according to the planned path. The optimal path was mapped to the 2D US image taken at the puncture site. Finally, the 2D US image and puncture path were used to guide the robot in performing an accurate and safe percutaneous puncture.

Results

The proposed robotic system based on the guidance of 3D–2D US exhibits the advantages of both 3D US and 2D US to improve the accuracy of percutaneous puncture and reduce the risk of tissue injury. The experimental results of phantom puncture demonstrate that the mean puncture accuracy of the system is 1.09 ± 0.35 mm, and the puncture success rate with single needle insertion is 100%.

Conclusion

A percutaneous puncture robotic system based on 3D–2D US guidance was proposed and tested successfully. The experimental results demonstrate the feasibility of the proposed system for achieving accurate and safe robotic percutaneous puncture.

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Acknowledgements

We would like to thank Editage (www.editage.cn) for the English language editing.

Funding

This study was funded by the National Natural Science Foundation of China (Grant number 52175020).

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Authors and Affiliations

  1. School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, People’s Republic of China

    Yanping Lin, Shihang Chen, Wangjie Xu, Xiaoxiao Zhu & Qixin Cao

  2. Institute of Medical Robotics, Shanghai Jiao Tong University, Shanghai, People’s Republic of China

    Qixin Cao

Authors
  1. Yanping Lin
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  2. Shihang Chen
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  3. Wangjie Xu
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  4. Xiaoxiao Zhu
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Correspondence to Xiaoxiao Zhu.

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The authors declare that they have no conflict of interest.

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All procedures performed in studies involving human participants were in accordance with the ethical standards of the institutional and/or national research committee and with the 1964 Helsinki Declaration and its later amendments or comparable ethical standards. No animal experiments were performed in this study.

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Cite this article

Lin, Y., Chen, S., Xu, W. et al. Robotic system for accurate percutaneous puncture guided by 3D–2D ultrasound. Int J CARS 18, 217–225 (2023). https://doi.org/10.1007/s11548-022-02766-1

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  • DOI: https://doi.org/10.1007/s11548-022-02766-1

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