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

Abstract : 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.
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https://hal.archives-ouvertes.fr/hal-03672742
Contributor : Amandine Michel-Avella Connect in order to contact the contributor
Submitted on : Thursday, May 19, 2022 - 3:40:08 PM
Last modification on : Tuesday, May 24, 2022 - 5:21:21 PM

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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. Scientific Reports, Nature Publishing Group, 2021, 11 (1), pp.5218. ⟨10.1038/s41598-021-84878-3⟩. ⟨hal-03672742⟩

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