Validate the Safety and Feasibility of the CT-guided Interventional Robot in Percutaneous Biopsy Procedure.

This multicenter, randomized controlled trial aims to investigate whether the interventional robot can be well and safely used for percutaneous needle biopsy compared with the freehand needle biopsy method under CT guidance in patients with suspected thoracic or abdominal lesions. The robot allows radiologists to remotely control the needle insertion process under the CT-fluoroscopy guidance. The main questions it aims to answer are: 1. Whether the robot-assisted needle biopsy method can decrease patient radiation exposure during the biopsy procedure. 2. Whether the robot-assisted needle biopsy method can improve the success rate for radiologists to insert the needle into the target lesions area without additional needle adjustment 3. Whether the robot-assisted needle biopsy method can decrease the patient's complication occurrence rate 4. Whether the robot-assisted needle biopsy method can decrease the time from the beginning to the end of needle insertion. All the participants with suspected thoracic and abdominal lesions will be randomly assigned to the study group or control group. Participants in the study group will receive a robot-assisted biopsy procedure under the CT-fluoroscopy guidance. Participants in the control group will receive a freehand needle biopsy under the CT guidance.

Sex

All

Minimum age

18 Years

Inclusion Criteria:

* Participants have suspected thoracic or abdomen lesions.
* Participants need to receive CT-guided non-vascular percutaneous biopsy procedure
* Lesion size ≥ 10 mm that confirmed by radiologists through the preoperative CT.

Exclusion Criteria:

* Participants with uncorrectable coagulopathy, infectious lesions in the planned needle trajectory path, pulmonary echinococcosis considered on CT imaging, patients who need mechanical ventilation, hepatic alveolar echinococcosis, coma or other diseases that the investigators think not suitable for joining the study.