机器人组织取样用于感染性尸体的安全死后活检
Robotic Tissue Sampling for Safe Post-mortem Biopsy in Infectious Corpses
摘要：
在病理学和法医学方面，对受感染死者的组织样本进行组织病理学和微生物分析是在COVID-19等大流行期间制定治疗策略的宝贵信息。然而，传统的尸检有传播疾病的风险，可能会被亲属拒绝。我们建议在CT引导下使用机器人辅助进行微创活检，以最大限度地降低组织采样期间疾病传播的风险并提高准确性。介绍了一种用于人体尸体活体取样的柔性机器人系统。自动规划和决策系统估计最佳插入点。投影到分割皮肤上的热图可以可视化插入的距离和角度，并估计穿刺的最小成本，同时避免骨骼碰撞。此外，我们测试多个插入路径的可行性和冲突。定制末端执行器设计用于在机器人引导下插入针和提取组织样本。我们的机器人尸检活检（RPMB）系统在COVID-19大流行期间的一项研究中对20具尸体和10个组织目标进行了评估，其中5个感染了SARS-CoV-2。包括机器人路径规划在内的平均规划时间为（5.72 ± 1.67）s。平均置针精度为（7.19 ± 4.22）mm。
英文摘要：
In pathology and legal medicine, the histopathological and microbiological analysis of tissue samples from infected deceased is a valuable information for developing treatment strategies during a pandemic such as COVID-19. However, a conventional autopsy carries the risk of disease transmission and may be rejected by relatives. We propose minimally invasive biopsy with robot assistance under CT guidance to minimize the risk of disease transmission during tissue sampling and to improve accuracy. A flexible robotic system for biopsy sampling is presented, which is applied to human corpses placed inside protective body bags. An automatic planning and decision system estimates optimal insertion point. Heat maps projected onto the segmented skin visualize the distance and angle of insertions and estimate the minimum cost of a puncture while avoiding bone collisions. Further, we test multiple insertion paths concerning feasibility and collisions. A custom end effector is designed for inserting needles and extracting tissue samples under robotic guidance. Our robotic post-mortem biopsy (RPMB) system is evaluated in a study during the COVID-19 pandemic on 20 corpses and 10 tissue targets, 5 of them being infected with SARS-CoV-2. The mean planning time including robot path planning is (5.72+-1.67) s. Mean needle placement accuracy is (7.19+-4.22) mm.
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