3D image-guided robotic needle positioning system for small animal interventions.

Purpose: This paper presents the design of a micro-CT guided small animal robotic needle positioning system. In order to simplify the robotic design and maintain a small targeting error, a novel implementation of the remote center of motion is used in the system. The system has been developed with the objective of achieving a mean targeting error of <200 μm while maintaining a high degree of user friendliness.

Development and validation of a virtual reality transrectal ultrasound guided prostatic biopsy simulator.

Objective: We present the design, reliability, face, content and construct validity testing of a virtual reality simulator for transrectal ultrasound (TRUS), which allows doctors-in-training to perform multiple different biopsy schemes.

Methods: This biopsy system design uses a regular "end-firing" TRUS probe. Movements of the probe are tracked with a micro-magnetic sensor to dynamically slice through a phantom patient's 3D prostate volume to provide real-time continuous TRUS views.

A compact mechatronic system for 3D ultrasound guided prostate interventions.

Purpose: Ultrasound imaging has improved the treatment of prostate cancer by producing increasingly higher quality images and influencing sophisticated targeting procedures for the insertion of radioactive seeds during brachytherapy. However, it is critical that the needles be placed accurately within the prostate to deliver the therapy to the planned location and avoid complications of damaging surrounding tissues.

Methods: The authors have developed a compact mechatronic system, as well as an effective method for guiding and controlling the insertion of transperineal needles into the prostate.

Repeat prostate biopsy accuracy: simulator-based comparison of two- and three-dimensional transrectal US modalities.

Purpose: To compare the accuracy of biopsy with two-dimensional (2D) transrectal ultrasonography (US) with that of biopsy with conventional three-dimensional (3D) transrectal US and biopsy with guided 3D transrectal US in the guidance of repeat prostate biopsy procedures in a prostate biopsy simulator.

Materials And Methods: The institutional review board approved this retrospective study. Five residents and five experts performed repeat biopsies with a biopsy simulator that contained the transrectal US prostate images of 10 patients who had undergone biopsy.

Mechanically assisted 3D ultrasound guided prostate biopsy system.

There are currently limitations associated with the prostate biopsy procedure, which is the most commonly used method for a definitive diagnosis of prostate cancer. With the use of two-dimensional (2D) transrectal ultrasound (TRUS) for needle-guidance in this procedure, the physician has restricted anatomical reference points for guiding the needle to target sites. Further, any motion of the physician's hand during the procedure may cause the prostate to move or deform to a prohibitive extent.

Design and evaluation of a 3D transrectal ultrasound prostate biopsy system.

Biopsy of the prostate using ultrasound guidance is the clinical gold standard for diagnosis of prostate adenocarcinoma. The current prostate biopsy procedure is limited to using 2D transrectal ultrasound (TRUS) images to target biopsy sites and record biopsy core locations for postbiopsy confirmation. Localization of the 2D image in its actual 3D position is ambiguous and limits procedural accuracy and reproducibility.