Development of a transperineal prostate biopsy robot guided by MRI-TRUS image.

Abstract

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 2.23mm. 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.