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. In this method, a special end-effector was constructed to perform fluoroscopy calibration and robot to image-space registration simultaneously. In addition, formulations were given to compute the movement of robot targeting and evaluate targeting accuracy using only one X-ray image. With these techniques, radiation exposure and operation time were reduced significantly compared to other commonly used methods. A pre-clinical experiment showed that the maximum angle error was 0.94° and the maximum position error of a target located 80mm below the end-effector was 1.31mm. 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.

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。在这种方法中，构造了一个特殊的末端执行器，以同时执行荧光检查校准和机器人到图像空间的配准。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。与其他常用方法相比，使用这些技术可以显着减少辐射暴露和操作时间。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80mm处的目标的最大位置误差为1.31mm。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。