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System for robotically assisted prostate biopsy and therapy with intraoperative CT guidance
Gabor Fichtinger1, Theodore L DeWeese, Alexandru Patriciu
1Engineering Research Center, Johns Hopkins University, Baltimore, MD 21218-2682, USA.
Academic Radiology
|March 29, 2002
Summary
This study assessed a new robotic system for precise transperineal prostate needle placement using CT imaging. The system demonstrated high accuracy in preliminary tests, showing potential for clinical applications.
Area of Science:
- Medical Robotics
- Image-Guided Surgery
- Prostate Interventions
Background:
- Accurate needle placement is crucial for prostate interventions.
- Existing methods may have limitations in precision and consistency.
- Intraoperative image guidance enhances procedural accuracy.
Purpose of the Study:
- To evaluate a prototype image-guided robotic system for transperineal prostate needle placement.
- To assess the system's accuracy and consistency within a computed tomographic (CT) scanner environment.
Main Methods:
- A coach-mounted, seven-degrees-of-freedom robotic system with a motorized needle-insertion device was used.
- The system employed a remote-center-of-motion robot registered via a stereotactic adapter.
- Surgeon control and planning were performed using a desktop computer receiving DICOM images from the CT scanner.
Main Results:
- In open air, accuracy was better than 1 mm at depths of 5-8 cm.
- Phantoms showed an average orientation error of 1.3 degrees.
- The average distance between the needle tip and target was 2 mm.
Conclusions:
- Preliminary results suggest the robotic system is suitable for transperineal prostate needle placement.
- The system shows potential for various percutaneous clinical applications.
- The portable, non-vendor-specific design facilitates broader clinical adoption.