全自动超声引导穿刺机器人可精准定位肝部病灶，助力癌症诊断。
Preliminary Evaluation of an Ultrasound-Guided Robotic System for Autonomous Percutaneous Intervention
- 基于阻抗控制实现超声扫描与穿刺一体化自主操作
- 在凝胶模型中定位误差仅5.74±2.70毫米，可靶向>5毫米肿瘤
- 适合希望提升穿刺精度与流程标准化的临床研究者
全球癌症病例持续上升，2023年导致近1000万人死亡。活检对诊断至关重要，常需在超声（US）引导下进行，依赖医生精细的手眼协调与决策能力。机器人辅助干预通过克服二维图像噪声和探头接触不稳等问题，提升了病灶定位精度。近年来研究聚焦于全自主机器人超声系统，以实现标准化诊断与可重复的超声引导治疗。本研究提出一套全自主超声引导穿刺系统，可完成从腹部肝区识别、超声扫描路径规划与执行（采用阻抗控制）、实时病灶定位到目标穿刺的全流程自动化。评估对比了位置控制与阻抗控制两种模式。在凝胶模拟体上的验证显示，靶向误差为5.74±2.70毫米，表明其对大于5毫米肿瘤具有精准靶向潜力，验证了该系统在全自动超声引导活检中的可行性。
原文摘要 · Abstract (English)
Cancer cases have been rising globally, resulting in nearly 10 million deaths in 2023. Biopsy, crucial for diagnosis, is often performed under ultrasound (US) guidance, demanding precise hand coordination and cognitive decision-making. Robot-assisted interventions have shown improved accuracy in lesion targeting by addressing challenges such as noisy 2D images and maintaining consistent probe-to-surface contact. Recent research has focused on fully autonomous robotic US systems to enable standardized diagnostic procedures and reproducible US-guided therapy. This study presents a fully autonomous system for US-guided needle placement capable of performing end-to-end clinical workflow. The system autonomously: 1) identifies the liver region on the patient's abdomen surface, 2) plans and executes the US scanning path using impedance control, 3) localizes lesions from the US images in real-time, and 4) targets the identified lesions, all without human intervention. This study evaluates both position and impedance-controlled systems. Validation on agar phantoms demonstrated a targeting error of 5.74 +- 2.70 mm, highlighting its potential for accurately targeting tumors larger than 5 mm. Achieved results show its potential for a fully autonomous system for US-guided biopsies.
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