The Experimental Research On Needle Insertion Robot-assisted Microwave Ablation

Objective:1.To explore the influence of insertion experience on the effects of the insertion experiments in respiratory movements models,and to compare the effects of the insertion experiments in respiratory movements models by traditional ultrasound-guided method and robot-assisted navigation and microwave ablation system.2.To explore the influence of microwave ablation experience on the effects of the microwave ablation experiments in liver tumor models,and to compare the effects of the microwave ablation experiments in liver tumor models by traditional ultrasound-guided method and robot-assisted navigation and microwave ablation system.3.To develop an optical and electromagnetic location and navigation system,and to compare the locating precision and locating time among the optical and electromagnetic location and navigation system,the optical location and navigation system and the electromagnetic location and navigation system.Materials and Methods:1.A rigid body and a phantom respiratory movement models were built.Insertion procedure by the traditional method and robot-assisted navigation and microwave ablation system were performed by doctors with/without insertion experience.The insertion time,the distance between the target and the needle point,the deviated angle and comfortability were recorded and statistically analyzed.2.A porcine liver tumor model and rabbit VX2 liver cancer model were developed.Microwave ablation of the liver tumors by the traditional method and robot-assisted navigation and microwave ablation system were performed by doctors with/without insertion experience.The insertion time,the treating time,the first session success rate,the technical success rate and comfortability were recorded and statistically analyzed.3.The software and coordinates of NDI Polaris Vicra optical location and navigation system and NDI Aurora electromagnetic location and navigation system were integrated.A needle with optical and electromagnetic markers was designed.Different spatial marked points with those three location and navigation systems were located with a needle with optical and electromagnetic markers.The coordinates outputted by those systems and locating time were recorded and statistically analyzed.Results:1.There was no statistically significant difference between the data of tradition group and that of the robot group when the insertion procedure was performed the doctors with experience(P>0.05).There were statistically significant differences between the data of tradition group and that of the robot group when the insertion procedure was performed by the doctors without experience(P<0.05).There was no statistically significant difference between the data of experience group and that of the no experience group when the insertion procedure was performed with robot-assisted navigation and microwave ablation system(P>0.05).There were statistically significant differences between the data of experience group and that of the no experience group when the insertion procedure was performed with traditional method(P<0.05).2.There was no statistically significant difference between the data of tradition group and that of the robot group when the microwave ablation was performed the doctors with experience(P>0.05).There were statistically significant differences between the data of tradition group and that of the robot group when the microwave ablation was performed by the doctors without experience(P<0.05).There was no statistically significant difference between the data of experience group and that of the no experience group when the microwave ablation was performed with robot-assisted navigation and microwave ablation system(P>0.05).There were statistically significant differences between the data of experience group and that of the no experience group when the microwave ablation was performed with traditional method(P<0.05).3.The marked spatial points could not be located by the optical location and navigation system when the optical markers were covered(half/all)or rotated(60°/90°).There was a statistically significant difference(P=0.014)between the recorded coordinates and the actual coordinates when there was a needle deformation.The marked spatial points could not be located by the electromagnetic location and navigation system when the needle was out of the tracking area.There were statistically significant differences(P critical tracking area =0.019,P metal interference=0.004)between the recorded coordinates and the actual coordinates when the needle was in the critical tracking area or with metal interference.All the marked spatial points could be located by the optical and electromagnetic location and navigation system and there was no statistically significant difference between the recorded coordinates and the actual coordinates(P>0.05).The tracking time of the optical and electromagnetic location and navigation system was shorter than that of the electromagnetic location and navigation system when the needle was in critical tracking area with a statistically significant difference(P<0.001).The tracking time of the optical and electromagnetic location and navigation system was shorter than that of the optical location and navigation system when the optical markers were covered(half/all)or rotated(60°/90°)with statistically significant differences(P<0.001).Conclusion:1.There was no influence of experience on insertion precision,time and comfortability on insertion procedure with robot-assisted navigation and microwave ablation system.When performed by the doctors without insertion experience,the insertion procedure with robot-assisted microwave ablation navigating system was with higher insertion precision,shorter insertion time and more insertion comfortability compared with those of traditional method.2.There was no influence of experience on treating effects of microwave ablation with robot-assisted microwave ablation navigating system.When performed by the doctors without experience,the microwave ablation with ro.bot-assisted navigation and microwave ablation system was with better treating effects and more comfortability compared with those of traditional method.3.Compared with single optical or single electromagnetic location and navigation system,the optical and electromagnetic location and navigation system had larger precise tracking area and shorter tracking time.