State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, Heilongjiang, China.
Int J Med Robot. 2021 Aug;17(4):e2266. doi: 10.1002/rcs.2266. Epub 2021 May 6.
In the transrectal ultrasound (TRUS)-guided transperineal prostate biopsy, doctors determine the biopsy target by observing the prostate region in TRUS images. However, ultrasound images with low imaging quality make doctors easy to be interfered when determining the biopsy route, which reduces the biopsy success rate.
This paper introduces the guidance method of magnetic resonance image (MRI) registration to ultrasound image and develops a 5-degrees of freedom robot for prostate biopsy guided by MRI-TRUS image. The robot uses a structure attached to the ultrasound probe to reduce the space occupied. By registering the posture relationship between MRI, TRUS image, ultrasonic probe and the robot base, the accurate localization of the suspected lesion area can be achieved with the preoperative MRIs.
The prostate phantom biopsy based on the robotic biopsy system in this paper, the average biopsy error is 1.44 mm, and the maximum biopsy error is 2.23 mm.
We build a robotic biopsy platform with prostate phantom, and evaluate the biopsy accuracy of MRI-TRUS guided prostate biopsy robot, the results meet clinical prostate biopsy requirements.
在经直肠超声（TRUS）引导的经会阴前列腺活检中，医生通过观察 TRUS 图像中的前列腺区域来确定活检目标。然而，成像质量较低的超声图像使得医生在确定活检路径时容易受到干扰，从而降低了活检成功率。
本文介绍了磁共振图像（MRI）与超声图像配准的引导方法，并开发了一种用于 MRI-TRUS 图像引导的前列腺活检的五自由度机器人。该机器人使用附接到超声探头的结构来减少占用的空间。通过对 MRI、TRUS 图像、超声探头和机器人底座之间的姿势关系进行注册，可以实现术前 MRI 中对可疑病变区域的精确定位。
本文基于机器人活检系统对前列腺模型进行的活检，平均活检误差为 1.44 毫米，最大活检误差为 2.23 毫米。
我们构建了一个带有前列腺模型的机器人活检平台，并评估了 MRI-TRUS 引导的前列腺活检机器人的活检准确性，结果符合临床前列腺活检的要求。
