Clinical trial of a robotic system for puncture navigation and positioning
BACKGROUND: Conventional percutaneous CT-guided interventional puncture cannot be monitored in real time, and the operation takes a long time. In some high-risk puncture sites, multiple CT scans and adjustments to the position of the puncture needle are required, causing greater radiation damage to the patient. A self-developed surgical navigation and positioning system provides an effective way to solve the clinical problems of percutaneous puncture information perception and accurate and safe target puncture in complex intraoperative environments, achieving precise puncture positioning of the chest and abdomen. OBJECTIVE: To evaluate the safety, effectiveness and usability of the self-developed percutaneous puncture navigation robotic system in clinical application. METHODS: A retrospective analysis was conducted on clinical trial data from percutaneous lung nodule biopsy and tumor ablation procedures guided by a puncture navigation robotic system at the First Affiliated Hospital of Guangzhou Medical University and the Second Affiliated Hospital of Soochow University between November 1, 2021 and June 28, 2022. A multicenter, open-label, parallel controlled clinical study was conducted, and 120 subjects were randomly divided into an experimental and a control group, with 60 subjects in each group. The experimental group underwent puncture guided by a puncture navigation robotic system, while the control group underwent conventional CT-guided percutaneous puncture. The primary effectiveness endpoint was puncture accuracy rate, and secondary endpoints included number of needle adjustments, one-time success rate of puncture, number of CT scans, and system usability. RESULTS AND CONCLUSION: No unsafe events occurred during the entire clinical trial. The one-time success rate of puncture was 98.31% in the experimental group and 15.00% in the control group; complication rates were 6.78% and 13.33%, respectively. The system usability satisfaction rate was 100%. The system achieved interactive modeling of puncture needle and soft tissue, dynamic reconstruction of complex operative environment and real-time perception of puncture information, and dynamic navigation and tracking compensation under physiological motion and puncture interaction, providing an effective solution to the clinical challenges of information perception and accurate and safe target puncture in complex intraoperative environments.