Abstract：
OBJECTIVE: To evaluate the feasibility and safety of percutaneous puncture guided by a 5th generation mobile communication technology (5G)-based telerobotic ultrasound system in phantom and animal experiments.
METHODS: In the phantom experiment, 10 simulated lesions were punctured, once at each of two angles for each lesion, under the guidance of a telerobotic ultrasound system and ultrasound-guided freehand puncture. Student\'s t test was used to compare the two methods in terms of puncture accuracy, total operation duration, and puncture duration. In the animal experiment, under the guidance of the telerobotic ultrasound system, an 18G puncture needle was used to puncture 3 target steel beads in the liver, right kidney, and right gluteal muscle, respectively. The animal experiment had no freehand ultrasound-guided control group. After puncture, a CT scan was performed to verify the position of the puncture needle in relation to the target, and the complications and puncture duration, etc., were recorded.
RESULTS: In the phantom experiment, the mean accuracies of puncture under telerobotic ultrasound guidance and conventional ultrasound guidance were 1.8 ± 0.3 mm and 1.6 ± 0.3 mm (P = 0.09), respectively; therefore, there was no significant difference in the accuracy of the two guide methods. In the animal experiment, the first-attempt puncture success (the needle tip close to the target) rate was 93%. Polypnea occurred during one puncture. No other intraoperative or postoperative complications were observed.
CONCLUSIONS: Puncture guided by a 5G-based telerobotic ultrasound system has shown good feasibility and safety in phantom and animal experiments.
METHODS: In the phantom experiment, 10 simulated lesions were punctured, once at each of two angles for each lesion, under the guidance of a telerobotic ultrasound system and ultrasound-guided freehand puncture. Student\'s t test was used to compare the two methods in terms of puncture accuracy, total operation duration, and puncture duration. In the animal experiment, under the guidance of the telerobotic ultrasound system, an 18G puncture needle was used to puncture 3 target steel beads in the liver, right kidney, and right gluteal muscle, respectively. The animal experiment had no freehand ultrasound-guided control group. After puncture, a CT scan was performed to verify the position of the puncture needle in relation to the target, and the complications and puncture duration, etc., were recorded.
RESULTS: In the phantom experiment, the mean accuracies of puncture under telerobotic ultrasound guidance and conventional ultrasound guidance were 1.8 ± 0.3 mm and 1.6 ± 0.3 mm (P = 0.09), respectively; therefore, there was no significant difference in the accuracy of the two guide methods. In the animal experiment, the first-attempt puncture success (the needle tip close to the target) rate was 93%. Polypnea occurred during one puncture. No other intraoperative or postoperative complications were observed.
CONCLUSIONS: Puncture guided by a 5G-based telerobotic ultrasound system has shown good feasibility and safety in phantom and animal experiments.
摘要：
目的：评估体模和动物实验中基于第五代移动通信技术（5G）的远程机器人超声系统引导经皮穿刺的可行性和安全性。
方法：在幻影实验中，穿刺了10个模拟病灶,每个病变的两个角度都有一次，在遥控机器人超声系统和超声引导徒手穿刺的指导下。学生t检验用于比较两种方法在穿刺准确性方面，总操作持续时间,和穿刺持续时间。在动物实验中,在远程机器人超声系统的指导下，使用18G穿刺针在肝脏中穿刺3个目标钢珠，右肾,和右臀肌，分别。动物实验无徒手超声引导对照组。穿刺后,进行CT扫描以验证穿刺针相对于目标的位置，并发症和穿刺持续时间，等。,被记录下来。
结果：在幻影实验中，远程超声引导和常规超声引导下穿刺的平均准确度为1.8±0.3mm和1.6±0.3mm(P=0.09),分别；因此，两种指导方法的准确性没有显着差异。在动物实验中,首次穿刺成功率(针尖接近目标)为93%.一次穿刺时出现呼吸困难。术中、术后无其他并发症发生。
结论：基于5G的远程机器人超声系统引导下的穿刺在体模和动物实验中显示出良好的可行性和安全性。
方法：在幻影实验中，穿刺了10个模拟病灶,每个病变的两个角度都有一次，在遥控机器人超声系统和超声引导徒手穿刺的指导下。学生t检验用于比较两种方法在穿刺准确性方面，总操作持续时间,和穿刺持续时间。在动物实验中,在远程机器人超声系统的指导下，使用18G穿刺针在肝脏中穿刺3个目标钢珠，右肾,和右臀肌，分别。动物实验无徒手超声引导对照组。穿刺后,进行CT扫描以验证穿刺针相对于目标的位置，并发症和穿刺持续时间，等。,被记录下来。
结果：在幻影实验中，远程超声引导和常规超声引导下穿刺的平均准确度为1.8±0.3mm和1.6±0.3mm(P=0.09),分别；因此，两种指导方法的准确性没有显着差异。在动物实验中,首次穿刺成功率(针尖接近目标)为93%.一次穿刺时出现呼吸困难。术中、术后无其他并发症发生。
结论：基于5G的远程机器人超声系统引导下的穿刺在体模和动物实验中显示出良好的可行性和安全性。
