Feasibility of a 2nd generation MR-compatible manipulator for transrectal prostate biopsy guidance

Bomers, Joyce G. R.; Bosboom, Dennis; Tigelaar, Gerrit; Sabisch, Jan; Fütterer, Jurgen J.; Yakar, Derya

doi:10.1007/s00330-016-4504-2

Cited by 33 publications

(40 citation statements)

References 20 publications

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“…Compared with the median procedure times of transrectal in-bore MR-guided prostate biopsy reported in the literature (30-68 min) [ 13 ], this presents a considerable time improvement. Another study described initial results using a robotic manipulator and reported biopsy of one CSR per patient in a median of 37 min (range: 23-61) [ 23 ]. Another study used a needle-guide tracking sequence enabling biopsy of a median of two CSRs (range: 1-4) per patient in a median of 32 min (range: 14-48), without diagnostic scans at the beginning of the biopsy procedure.…”

Section: Discussionmentioning

confidence: 99%

Fast 3-T MR-guided transrectal prostate biopsy using an in-room tablet device for needle guide alignment: a feasibility study

et al. 2018

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ObjectivesTo assess the feasibility of adding a tablet device inside the scanner room to assist needle-guide alignment during magnetic resonance (MR)-guided transrectal prostate biopsy.MethodsTwenty patients with one cancer-suspicious region (CSR) with PI-RADS score ≥ 4 on diagnostic multiparametric MRI were prospectively enrolled. Two orthogonal scan planes of an MR fluoroscopy sequence (~3 images/s) were aligned to the CSR and needle-guide pivoting point. Targeting was achieved by manipulating the needle-guide under MR fluoroscopy feedback on the in-room tablet device. Technical feasibility and targeting success were assessed. Complications and biopsy procedure times were also recorded.ResultsNeedle-guide alignment with the in-room tablet device was technically successful in all patients and allowed sampling after a single alignment step in 19/20 (95%) CSRs (median size 14 mm, range: 4-45). Biopsy cores contained cancer in 18/20 patients. There were no per-procedural or post-biopsy complications. Using the tablet device, the mean time to first biopsy was 5.8 ± 1.0 min and the mean total procedure time was 23.7 ± 4.1 min.ConclusionsUse of an in-room tablet device to assist needle-guide alignment was feasible and safe during MR-guided transrectal prostate biopsy. Initial experience indicates potential for procedure time reduction.Key Points• Performing MR-guided prostate biopsy using an in-room tablet device is feasible.• CSRs could be sampled after a single alignment step in 19/20 patients.• The mean procedure time for biopsy with the tablet device was 23.7 min.Electronic supplementary materialThe online version of this article (10.1007/s00330-018-5497-9) contains supplementary material, which is available to authorized users.

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Section: Discussionmentioning

confidence: 99%

Fast 3-T MR-guided transrectal prostate biopsy using an in-room tablet device for needle guide alignment: a feasibility study

et al. 2018

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“…These motors have good specifications, but are also relative and complex to build. Bomers et al developed a five DOF robot for prostate biopsy guidance [8], driven by pneumatic screw-motion stepper motors which, while useful in this application, are difficult to use in smaller scale robotics. Franco et al developed a four DOF robot for liver biopsy, driven by relatively large pneumatic cylinders with a time-delay control scheme [6], which is difficult to control precisely due to the complex pneumatic model.…”

Section: B State-of-artmentioning

confidence: 99%

Design and characterization of Stormram 4: An MRI-compatible robotic system for breast biopsy

Groenhuis

Siepel

Veltman

2017

2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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Targeting of small lesions with high precision is essential in an early phase of breast cancer for diagnosis and accurate follow up, and subsequently determines prognosis. Current techniques to diagnose breast cancer are suboptimal, and there is a need for a small, MRI-compatible robotic system able to target lesions with high precision and direct feedback of MRI. Therefore, the design and working mechanism of the new Stormram 4, an MRI-compatible needle manipulator with four degrees of freedom, will be presented to take biopsies of small lesions in the MRI scanner. Its dimensions (excluding racks and needle) are 72x51x40 mm, and the system is driven by two linear and two curved pneumatic stepper motors. The T-26 linear motor measures 26x21x16 mm, has a nominal step size of 0.25 mm and the measured maximum force is 63 N at 0.65 MPa. The workspace has a total volume of 2.2 L. Accuracy measurements have shown that the mean positioning error is 0.7 mm, with a reproducibility of 0.1 mm. Velocity measurements with 5 m long tubes show a maximum stepping frequency of 8 Hz (maximum force) to 30 Hz (unloaded). These results show that the robot might be able to target lesions with sub-millimeter accuracy within reasonable time for the MRIguided breast biopsy procedure.

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“…MRI is ideally suited for percutaneous needle interventions where image‐guidance is required to steer a needle through the skin to a target organ 5 . Clinical applications of percutaneous MR‐guided interventions range from analgesic injections for pain palliation, 6,7 biopsy procedures in prostate, 8‐10 to laser 11 and cryoablational thermal treatments 12 for local tissue necrosis.…”

Section: Introductionmentioning

confidence: 99%

Passive needle guide tracking with radial acquisition and phase‐only cross‐correlation

Reichert

Reiss

Krafft

et al. 2020

Magnetic Resonance in Med

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Purpose Acceleration of a passive tracking sequence based on phase‐only cross‐correlation (POCC) using radial undersampling. Methods The phase‐only cross‐correlation (POCC) algorithm allows passive tracking of interventional instruments in real‐time. In a POCC sequence, two cross‐sectional images of a needle guide with a positive MR contrast are continuously acquired from which the instrument trajectory is calculated. Conventional Cartesian imaging for tracking is very time consuming; here, a higher temporal resolution is achieved using a highly undersampled radial acquisition together with a modified POCC algorithm that incorporates the point‐spread‐function. Targeting and needle insertion is performed in two phantom experiments with 16 fiducial targets, each using 4 and 16 radial projections for passive tracking. Additionally, targeting of eight deep lying basivertebral veins in the lumbar spines is performed for in vivo proof‐of‐application with four radial projections for needle guide tracking. Results The radially undersampled POCC sequence yielded in the phantom experiments a lateral targeting accuracy of 1.1 ± 0.4 mm and 1.0 ± 0.5 mm for 16 and 4 radial projections, respectively, without any statistically significant difference. In the in vivo application, a mean targeting duration of 62 ± 13 s was measured. Conclusion Radial undersampling can drastically reduce the acquisition time for passive tracking in a POCC sequences for MR‐guided needle interventions without compromising the targeting accuracy.

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Feasibility of a 2nd generation MR-compatible manipulator for transrectal prostate biopsy guidance

Cited by 33 publications

References 20 publications

Fast 3-T MR-guided transrectal prostate biopsy using an in-room tablet device for needle guide alignment: a feasibility study

Fast 3-T MR-guided transrectal prostate biopsy using an in-room tablet device for needle guide alignment: a feasibility study

Design and characterization of Stormram 4: An MRI-compatible robotic system for breast biopsy

Passive needle guide tracking with radial acquisition and phase‐only cross‐correlation

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