Abstract
Robotic systems are increasingly used to enhance clinical outcomes in prostate intervention. To evaluate the clinical value of the proposed portable robot, the robot-assisted and robot-targeted punctures were validated experimentally. The robot registration utilising the electromagnetic tracker achieves coordinate transformation from the ultrasound (US) image to the robot. Subsequently, Transrectal ultrasound (TRUS)-guided phantom trials were conducted for robot-assisted, free-hand, and robot-targeted punctures. The accuracy of robot registration was 0.95mm, and the accuracy of robot-assisted, free-hand, and robot-targeted punctures was 2.38±0.64mm, 3.11±0.72mm, and 3.29±0.83mm sequentially. The registration method has been successfully applied to robot-targeted puncture. Current results indicate that the accuracy of robot-targeted puncture is slightly inferior to that of manual operations. Moreover, in manual operation, robot-assisted puncture improves the accuracy of free-hand puncture. Accuracy superior to 3.5mm demonstrates the clinical applicability of both robot-assisted and robot-targeted punctures.
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