Robotic Transrectal Ultrasound-Guided Prostate Biopsy

Title
Robotic Transrectal Ultrasound-Guided Prostate Biopsy
Authors
임성환Changhan JunDoyoung ChangDoru PetrisorMisop HanDan Stoianovici
Issue Date
2019-09
Publisher
IEEE transactions on bio-medical engineering / Bio-medical Engineering Group
Citation
VOL 66, NO 9-2537
Abstract
We present a robot-assisted approach for transrectal ultrasound (TRUS) guided prostate biopsy. The robot is a hands-free probe manipulator thatmoves the probe with the same 4 DoF that are used manually. Software was developed for three-dimensional (3-D) imaging, biopsy planning, robot control, and navigation. Methods to minimize the deformation of the prostate caused by the probe at 3-D imaging and needle targeting were developed to reduce biopsy targeting errors. We also present a prostate coordinate system (PCS). The PCS helps defining a systematic biopsy plan without the need for prostate segmentation. Comprehensive tests were performed, including two bench tests, one imaging test, two in vitro targeting tests, and an IRB-approved clinical trial on five patients. Preclinical tests showed that image-based needle targeting can be accomplished with accuracy on the order of 1 mm. Prostate biopsy can be accomplished with minimal TRUS pressure on the gland and submillimetric prostate deformations. All five clinical cases were successful with an average procedure time of 13 min and millimeter targeting accuracy. Hands-free TRUS operation, transrectal TRUS guided prostate biopsy with minimal prostate deformations, and the PCS-based biopsy plan are novel methods. Robot-assisted prostate biopsy is safe and feasible. Accurate needle targeting has the potential to increase the detection of cliniHEAD / HTTP/1.0Connection: Close
URI
http://pubs.kist.re.kr/handle/201004/72831
ISSN
0018-9294
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KIST Publication > Article
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