BACKGROUND Minimally invasive procedures are rapidly growing in popularity thanks to advancements in medical robots, visual navigation and space registration techniques. This paper presents a precise and efficient targeting method for robot-assisted percutaneous needle placement under C-arm fluoroscopy. METHOD A special end-effector was constructed to perform fluoroscopy calibration and robot to image-space registration simultaneously and automatically. In addition, formulations were given to compute the movement of robot targeting and evaluate targeting accuracy using only one X-ray image. RESULT A pre-clinical experiment showed that the maximum angle error was 0.94° and the maximum position error of a target located 80 mm below the end-effector was 1.31 mm. And evaluation of the system in a robot-assisted pedicle screws placement surgery has justified the accuracy and reliability of proposed method in clinical applications. CONCLUSION The positioning accuracy was increased by using present method. Moreover, radiation exposure and operation time were reduced significantly compared to other commonly used methods.

中文翻译：

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一种在荧光检查指导下自动辅助经皮针放置的靶向方法。

背景技术由于医疗机器人，视觉导航和空间配准技术的进步，微创手术正迅速普及。本文提出了一种精确有效的靶向方法，用于在C臂透视下进行机器人辅助的经皮针头放置。方法构建了一种特殊的末端执行器，可以同时自动进行荧光检查校准和机器人对图像空间的配准。此外，还给出了仅使用一张X射线图像即可计算出机器人瞄准运动并评估瞄准精度的公式。结果临床前实验表明，最大角度误差为0.94°，位于末端执行器下方80 mm的目标的最大位置误差为1.31 mm。在机器人辅助的椎弓根螺钉置入手术中对该系统的评估证明了该方法在临床应用中的准确性和可靠性。结论采用本方法可以提高定位精度。此外，与其他常用方法相比，辐射暴露和操作时间明显减少。