Abstract
Needle insertion procedures are commonly used to treat and to diagnose prostate cancer. Surgical simulation systems can be used to estimate prostate deformation during pre- and intra-operative needle insertion planning. Such systems require a model that can accurately predict the prostate deformation in real time. In this study, we present a prostate model that incorporates the anatomy of the male pelvic region. The model is used to predict the prostate deformation during needle insertion and it is implemented in the Simulation Open Framework Architecture (SOFA). SOFA simulations are compared with experimental results for two scenarios: indentation and needle insertion. An experimental phantom is developed using anatomically accurate magnetic resonance images and populated with elasticity properties obtained from ultrasound-based Acoustic Radiation Force Impulse imaging technique. Markers are placed on the phantom surface to identify the deformation during indentation experiments. The root mean square error (RMSE) obtained in indentation experiments is 0.36 mm. During the needle insertion, the needle tip position is used to validate the model. The SOFA simulation resulted in a RMSE of 0.14 mm. The results of this study demonstrate that SOFA is a feasible option to be used in surgical simulations for pre-operative planning and training.
Highlights
Prostate cancer is the second-leading cause of cancer death in men
The results of this study demonstrate that Simulation Open Framework Architecture (SOFA) is a feasible option to be used in surgical simulations for pre-operative planning and training
This study has presented the design of a 3D Finite Element (FE) model for the prostate deformation using SOFA environment
Summary
Prostate cancer is the second-leading cause of cancer death in men. In 2013, 238,000 new cases of prostate cancer will be diagnosed only in the United States (American Cancer Society, 2013). Biopsy is already a common technique to diagnose cancer tumours, and brachytherapy is replacing radical prostatectomy as the treatment of choice for early-stage prostate cancer (Ragde et al, 2000) For both procedures, accurate needle insertions are essential. An experimental phantom is designed based on MR images and allows us to perform experiments Another novel aspect of this work is the use of non-invasive ultrasound-based ARFI imaging technique to estimate the elastic properties of organs. The relevance of this work is based on the combination of different aspects of the prostate modelling, such as, MR images to identify organ anatomy, the use of ARFI imaging technique to estimate elastic properties, phantom design to perform experiments, design of a FE model in SOFA to perform simulations and comparison between experimental and simulated results.
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