Magnetic Positioning 4D Navigation System Assists Minimally Invasive Treatment Of Renal Tumors

Objectives 1 To evaluate the accuracy and stability of electromagnetic positioning and puncture navigation through the experimental study of rubber ball puncture in the electromagnetic positioning guide phantom.2 By comparing the animal experiments of electromagnetic navigation and CT-guided percutaneous nephrostomy,the feasibility of electromagnetic localization and navigation in renal tumor puncture was explored.Methods 1(1)Eight transparent polypropylene boxes were used to simulate human body cavity,and 4 rubber elastic balls were fixed in the interior as navigation targets.4 to 6 metal balls were stuck on the surface of the phantom to perform phantom CT scanning.After the image data is imported into the computer.(2)Three-dimensional reconstruction of phantom CT images.After registration registration,the target of needle insertion is guided by electromagnetic positioning navigation.(3)Observe whether the target is stabbed or not,and collect the registration error,the number of times of one-time target wear,and the puncture time.2(1)Four Parva minipigs were anaesthetized and 8-sputum empty shells were implanted in the upper,lower,ventral,and dorsal cortices of the bilateral kidneys of the minipigs under ultrasound guidance.aims.(2)Electromagnetic localization navigation and CT guidance methods were used to conduct particle shell puncture in the kidneys respectively.CT scans were used to verify whether the target was reached or not.At the same time,the number of disposable insults,the number of punctures,and the number of CT scans were collected.And electromagnetic positioning group registration error.Results 1 The registration error before the puncture was 0.826±0.029 mm,the accuracy of one-time puncture was 100%,and the puncture time was 22.1±2.6s.(2)The registration difference before the percutaneous nephrostomy in the electromagnetic positioning navigation group was 1.201±0.078 mm,and the accuracy of one-time puncture was 84.4%,which was significantly larger than the accuracy of one-time puncture in the CT-guided group by 21.9%.The difference was statistically significant(P<0.01);puncture needle number electromagnetic positioning navigation group 1.16 ± 0.37 times compared with CT guidance group 2.84 ± 1.37 times less,the difference was statistically significant(P <0.01);scanning frequency electromagnetic positioning navigation group 2.16 ± 0.37 times CT The guide group was 3.84±1.37 times less,and the difference was statistically significant(P<0.01).Conclusions 1 The electromagnetic positioning navigation has high accuracy and high stability.2 Electromagnetic positioning guides renal puncture can increase the success rate of disposable puncture,reduce the number of punctures,and reduce radiation dose.3 Animal experiments confirmed the feasibility of electro-magnetic localization-assisted percutaneous nephrostomy,laying the foundation for further clinical application experiments.