Improvement of the primary efficacy of microwave ablation of malignant liver tumors by using a robotic navigation system

Figures & Tables

Predictor		Estimate	Std.err	Wald	p-value
Long axis, mm	≤ 30 > 30	Reference − 0.8717	0.3657	5.68	0.0171
Guidance	Freehand Robotic	Reference 0.8064	0.3256	6.13	0.0133
	HCC	Reference
Tumor entity	CRC CCC	0.2922 0.0665	0.4483 0.6524	0.42 0.01	0.5145 0.9188
	Other	0.0832	0.5228	0.03	0.8736
	I	Reference
	II	− 0.3956	1.0798	0.13	0.7141
	III	− 0.0449	1.1025	0.00	0.9675
	IVa	0.2688	1.1180	0.06	0.8100
Liver segment	IVb	− 0.2539	1.1597	0.05	0.8267
	V	0.5961	1.1285	0.28	0.5974
	VI	0.9036	1.1736	0.59	0.4413
	VII	0.0656	1.1090	0.00	0.9528
	VIII	− 0.1069	1.0929	0.01	0.9221

Long axis, mm	Guidance	CI-2.5%	Median	CI-97.5%
≤ 30	Freehand	0.60	0.75	0.86
> 30	Freehand	0.34	0.55	0.76
≤ 30	Robotic	0.78	0.87	0.92
> 30	Robotic	0.55	0.74	0.87

Ablation technique	Long axis, mm						Liver segment, n (%)						Device, n (%)		Primary efficacy, n (%)

	Min	Mean (SD)	Max	I	II	III	IVa	IVb	V	VI	VII	VIII	Acculis	Emprint	Complete	Incomplete
Freehand (n = 119)	4	19.79 (12.42)	85	1 (1)	10 (8)	16 (13)	16 (13)	9 (8)	13 (11)	17 (14)	15 (13)	22 (18)	65 (55)	54 (45)	9 (76)	28 (24)
Robotic guidance (n = 249)	3	18.78 (10.78)	64	6 (2)	24 (10)	20 (8)	26 (10)	16 (6)	38 (15)	36 (14)	36 (14)	47 (19)	143 (57)	106 (43)	219 (88)	30 (12)

	Age, years			Sex, n, (%)			Treated tumors per patient, n			Tumor entity, n (%)

	Min.	Mean (SD)	Median (IQR)	Max.	Male	Female	Median (IQR)	Max.	HCC	CRC	CCC	Other
Patients (n = 192)	15	65.03 (23.56)	64.00 (57.75, 72.00)	83	156 (81)	36 (19)	1.00 (1.00, 2.00)	9	139 (72)	29 (15)	7 (4)	17 (9)