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Abstract：
Numerous research groups in the past have designed and developed robotic needle guide systems that improve the targeting accuracy and precision by either providing a physical guidance for manual insertion or enabling a complete automated intervention. Here we review systems that have been reported in the last 11 years and limited to straight line needle interventions. Most systems fall under the category of image guided systems as they either use magnetic resonance image, computed tomography, ultrasound or a combination of these modalities for real time image feedback of the intervention path being followed. Actuation and control technology along with materials used for construction are the main aspects that differentiate these systems from each other and have been reviewed here. Image compatibility test details and results are also reviewed as they are used to ensure proper functioning of these systems under the respective imaging environments. We have also reviewed needle guide systems which either don\'t use any image feedback or have not reported any but provide physical guidance. Throughout this paper, we provide a comprehensive review of the technological aspects and trends in the field of robotic, straight line, needle guide intervention systems.
摘要：
过去的许多研究小组已经设计和开发了机器人针引导系统,其通过提供用于手动插入的物理引导或实现完整的自动化干预来提高瞄准准确度和精度。在这里，我们回顾了过去11年中报道的系统，仅限于直线针头干预。大多数系统都属于图像引导系统的类别，因为它们要么使用磁共振图像，计算机断层扫描,超声或这些模式的组合，用于跟踪干预路径的实时图像反馈。驱动和控制技术以及用于建筑的材料是区分这些系统的主要方面，并在这里进行了综述。还审查了图像兼容性测试细节和结果，因为它们用于确保这些系统在各自的成像环境下正常运行。我们还审查了针引导系统，这些系统要么不使用任何图像反馈，要么没有报告任何图像反馈，但提供物理指导。在整个论文中，我们全面回顾了机器人领域的技术方面和趋势，直线,针引导干预系统。
