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目的探讨立体定向手术机器人(Robot of Stereotactic Assistant,ROSA)制定注册计划时,探头圆圈与骨性标记点的位置关系对注册误差的影响。方法头模固定16个骨性标记点,行头部CT扫描,数据导入ROSA。每次随机任选5个骨性标记点注册,分别执行3种注册计划,A组注册计划探头圆圈切于标记点尾端边缘,B组和C组分别向标记点尖端及反方向移动0.5 mm。进行15次试验,共注册45次。结果进行配对t检验分析。结果 A组误差范围0.42~0.77 mm,平均(0.557±0.105)mm;B组误差范围0.23~0.68 mm,平均(0.349±0.109)mm;C组误差范围0.64~1.12 mm,平均(0.897±0.145)mm。A、B两组误差,差异存在统计学意义,B组误差更小(t=8.16,P<0.001)。A、C两组误差,差异存在统计学意义,A组误差更小(t=12.93,P<0.001)。按误差由大到小排序,依次为C组>A组>B组。结论ROSA设计注册时将探头圆圈向标记点尖端方向靠近0.5 mm,可明显减小注册误差。
Objective To investigate the effect of the positional relationship between the probe circle and the bony locus on the registration error when a registration plan is established for the Robot of Stereotactic Assistant (ROSA). Methods 16 bony markers were fixed in the head model, CT scan was performed on head and the data were imported into ROSA. Each time a random five bony marker registration, respectively, the implementation of three kinds of registration plan, A group registration plan probe cut at the tail edge of the marker points, B and C were marked to the tip and the opposite direction of movement 0.5 mm . 15 trials, a total of 45 registration. Results were paired t-test analysis. Results The error range of group A was 0.42-0.77 mm (average 0.557 ± 0.105 mm), that of group B was 0.23-0.68 mm (average 0.349 ± 0.109 mm), that of group C was 0.64-1.12 mm (average, 0.897 ± 0.145 mm) mm. There was a statistically significant difference between the two groups A and B, with a smaller error in group B (t = 8.16, P <0.001). There was a statistically significant difference between the two groups A and C, with a smaller error in group A (t = 12.93, P <0.001). According to the error order, the order of C> A group> B group. Conclusion The ROSA design registers the probe circle at the tip of the marker near 0.5 mm, significantly reducing registration errors.