Department of Radiology, Radboud University Nijmegen Medical Centre, Geert Grooteplein 10, 6500 HB Nijmegen, The Netherlands.
Radiology. 2011 Jul;260(1):241-7. doi: 10.1148/radiol.11101106. Epub 2011 Mar 15.
To assess the feasibility of using a remote-controlled, pneumatically actuated magnetic resonance (MR)-compatible robotic device to aid transrectal biopsy of the prostate performed with real-time 3-T MR imaging guidance.
This prospective study was approved by the ethics review board, and written informed consent was obtained from all patients. Twelve consecutive men who were clinically suspected of having prostate cancer and had a history of at least one transrectal ultrasonography (US)-guided prostate biopsy with negative results underwent diagnostic multiparametric MR imaging of the prostate. Two radiologists in consensus identified cancer-suspicious regions (CSRs) in 10 patients. These regions were subsequently targeted with the robot for MR imaging-guided prostate biopsy. To direct the needle guide toward the CSRs, the MR-compatible robotic device was remote controlled at the MR console by means of a controller and a graphical user interface for real-time MR imaging guidance of the needle guide. The ability to reach the CSRs with the robot for biopsy was analyzed.
A total of 17 CSRs were detected in 10 patients at the diagnostic MR examinations. These regions were targeted for MR imaging-guided robot-assisted prostate biopsy. Thirteen (76%) of the 17 CSRs could be reached with the robot for biopsy. Biopsy of the remaining four CSRs was performed without use of the robot.
It is feasible to perform transrectal prostate biopsy with real-time 3-T MR imaging guidance with the aid of a remote-controlled, pneumatically actuated MR-compatible robotic device.
评估使用远程控制、气动驱动的磁共振（MR）兼容机器人设备辅助实时 3T MR 成像引导下经直肠前列腺活检的可行性。
本前瞻性研究经伦理审查委员会批准，并获得所有患者的书面知情同意。12 例连续的临床疑似前列腺癌且至少有一次经直肠超声（US）引导下前列腺活检结果为阴性的患者接受了前列腺多参数诊断性 MR 成像。2 位放射科医生共识性地在 10 例患者中识别出癌可疑区域（CSR）。随后，使用机器人对这些区域进行靶向 MR 成像引导下前列腺活检。为了将针引导器引导至 CSR，通过 MR 控制台的控制器和图形用户界面远程控制 MR 兼容机器人，以实现实时 MR 成像引导针引导器。分析了使用机器人到达 CSR 进行活检的能力。
在 10 例患者的诊断性 MR 检查中总共检测到 17 个 CSR。这些区域被靶向进行 MR 成像引导机器人辅助前列腺活检。17 个 CSR 中有 13 个（76%）可以使用机器人进行活检。剩下的 4 个 CSR 未使用机器人进行活检。
使用远程控制、气动驱动的 MR 兼容机器人设备，辅助实时 3T MR 成像引导，进行经直肠前列腺活检是可行的。
