Robotic ultrasound-guided prostate intervention device: system description and results from phantom studies

被引：28

作者：

Ho, H. S. S. ^{[1
]}

Mohan, P. ^{[1
]}

Lim, E. D. ^{[1
]}

Li, D. L. ^{[2
]}

Yuen, S. P. ^{[1
]}

Ng, W. S. ^{[2
]}

Lau, W. K. O. ^{[1
]}

Cheng, C. W. S. ^{[1
]}

机构：

[1] Singapore Gen Hosp, Dept Urol, Singapore 169608, Singapore

[2] Nanyang Technol Univ, Med Intervent Lab, Dept Comp Integrated, Singapore, Singapore

来源：

INTERNATIONAL JOURNAL OF MEDICAL ROBOTICS AND COMPUTER ASSISTED SURGERY | 2009年 / 5卷 / 01期

基金：

英国医学研究理事会;

关键词：

prostate; robotic; ultrasound; experiments; biopsy; accuracy; BIOPSY; TRANSPERINEAL; CANCER;

D O I：

10.1002/rcs.232

中图分类号：

R61 [外科手术学];

学科分类号：

摘要：

Background We introduce the first robotic ultrasound-guided prostate intervention device and evaluate its safety, accuracy and repeatability. Methods The robotic positioning system (RPS) determines a target's x, y and z axes. it is situated with a biplane ultrasound probe on a mobile horizontal platform. The integrated software acquires ultrasound images for three-dimensional (3D) modelling, coordinates target planning and directs the RPS. Results The egg phantom evaluates the software's safety and workflow protocol. Two random targets are planned in each quadrant and biopsy needles are inserted. All were within three separate eggs. Metal wire tips are targeted and their distances from the biopsy needle tips are measured. With 20 wires, <1 mm accuracy is obtained. Repeatability is demonstrated when previous positions are returned to with similar accuracy. Conclusion Our device demonstrates safety in a defined boundary with a repeatable accuracy of <1 mm. It can be used for accurate prostate biopsy and treatment delivery. Copyright (C) 2009 John Wiley & Sons, Ltd.

引用

页码：51 / 58

页数：8

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