Abstract：
An experimental validation of a robotic system for radioactive iodine-125 seed implantation (RISI) in tumor treatment was conducted using customized phantom models and animal models simulating liver and lung lesions. The robotic system, consisting of planning, navigation, and implantation modules, was employed to implant dummy radioactive seeds into the models. Fiducial markers were used for target localization. In phantom experiments across 40 cases, the mean errors between planned and actual seed positions were 0.98 ± 1.05 mm, 1.14 ± 0.62 mm, and 0.90 ± 1.05 mm in the x, y, and z directions, respectively. The x, y, and z directions correspond to the left-right, anterior-posterior, and superior-inferior anatomical planes. Silicone phantoms exhibiting significantly smaller x-axis errors compared to liver and lung phantoms (p < 0.05). Template assistance significantly reduced errors in all axes (p < 0.05). No significant dosimetric deviations were observed in parameters such as D90, V100, and V150 between plans and post-implant doses (p > 0.05). In animal experiments across 23 liver and lung cases, the mean implantation errors were 1.28 ± 0.77 mm, 1.66 ± 0.69 mm, and 1.86 ± 0.93 mm in the x, y, and z directions, slightly higher than in phantoms (p < 0.05), with no significant differences between liver and lung models. The dosimetric results closely matched planned values, confirming the accuracy of the robotic system for RISI, offering new possibilities in clinical tumor treatment.
摘要：
使用定制的体模模型和模拟肝脏和肺部病变的动物模型，对用于肿瘤治疗中放射性碘-125种子植入（RISI）的机器人系统进行了实验验证。机器人系统,包括规划，导航,和植入模块，被用来将假放射性种子植入模型中。基准标记用于靶定位。在40个案例的幻影实验中，计划和实际种子位置之间的平均误差为0.98±1.05mm，1.14±0.62mm,x为0.90±1.05mm，y,和z方向，分别。x,y,z方向对应于左右方向，前-后,和上下解剖平面。与肝和肺体模相比,硅酮体模表现出显著更小的X轴误差(p<0.05)。模板辅助显着降低了所有轴的误差（p<0.05）。在诸如D90、V100和V150的参数中,在计划和植入后剂量之间没有观察到显著的剂量学偏差(p>0.05)。在23例肝脏和肺部病例的动物实验中，平均植入误差为1.28±0.77mm,1.66±0.69mm,x为1.86±0.93mm，y,和z方向，略高于幻影(p<0.05)，肝和肺模型之间没有显着差异。剂量测定结果与计划值紧密匹配，确认RISI机器人系统的准确性，为临床肿瘤治疗提供了新的可能性。
