Introduction
Material and methods
Phantom
iSYS-1 robotic-assisted needle placement
Navigation systems and experimental setup
Evaluation
Results
Accuracy
Procedural time
Discussion
Accuracy
Comparison with previous studies and other guidance devices
iSYS-1 S7 | ArciNav | Stealth Station Treon | Innomotion | AxiEM | PercuNav | |
---|---|---|---|---|---|---|
1mm | ||||||
ED mean (mm) | 1.606 | 2.52 | 1.94 | 1.69 | 3.855 | 4.417 |
ED min. (mm) | 0.757 | 0.66 | 0 | 0.53 | 1.075 | 2.441 |
ED max. (mm) | 2.476 | 4.6 | 4.79 | 3.25 | 15.775 | 8.699 |
ED standard dev. (mm) | 0.363 | 0.64 | 0.912 | 0.772 | 2.275 | 1.333 |
ND mean (mm) | 0.885 | 1.42 | 1.64 | 1.42 | 3.291 | 3.759 |
ND min. (mm) | 0.213 | 1.22 | 0 | 0.18 | 0.259 | 1.272 |
ND max. (mm) | 2.207 | 2.55 | 4.57 | 3.07 | 9.871 | 8.699 |
ND standard dev. (mm) | 0.422 | 0.66 | 0.919 | 0.78 | 1.517 | 1.594 |
3mm | ||||||
ED mean (mm) | 2.042 | 2.8 | 2.2 | 1.91 | 3.744 | 4.263 |
ED min. (mm) | 0.728 | 0.53 | 0.63 | 0.95 | 1.050 | 2.062 |
ED max. (mm) | 3.019 | 5.26 | 5.54 | 3.87 | 10.327 | 7.974 |
ED standard dev. (mm) | 0.452 | 1 | 1.136 | 0.673 | 2.101 | 1.322 |
ND mean (mm) | 0.927 | 1.99 | 1.84 | 1.60 | 3.157 | 3.840 |
ND min. (mm) | 0.174 | 0.18 | 0.09 | 0.16 | 0.441 | 1.029 |
ND max. (mm) | 1.722 | 5.24 | 5.09 | 3.73 | 8.428 | 7.723 |
ND standard dev. (mm) | 0.450 | 1.1 | 1.189 | 0.733 | 1.522 | 1.425 |
5mm | ||||||
ED mean (mm) | 1.763 | 2.74 | 2.30 | 4.813 | 4.457 | |
ED min. (mm) | 0.601 | 0.31 | 0.66 | 1.342 | 2.095 | |
ED max. (mm) | 2.875 | 6.84 | 5.17 | 10.467 | 9.217 | |
ED standard dev. (mm) | 0.452 | 1.166 | 0.881 | 2.065 | 1.562 | |
ND mean (mm) | 0.726 | 2.48 | 1.98 | 3.934 | 3.807 | |
ND min. (mm) | 0.065 | 0.12 | 0.52 | 0.110 | 0.496 | |
ND max. (mm) | 2.227 | 6.64 | 5.17 | 8.757 | 8.103 | |
ND standard dev. (mm) | 0.497 | 1.196 | 1.002 | 1.683 | 1.708 |