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Data-driven adaptive needle insertion assist for transperineal prostate interventions.

Mariana C Bernardes1, Pedro Moreira1, Lisa Mareschal1

  • 1Department of Radiology, Brigham and Women's Hospital, Harvard Medical School, Boston, MA, United States of America.

Physics in Medicine and Biology
|April 20, 2023
PubMed
Summary
This summary is machine-generated.

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This study introduces a robot-assisted needle guide to improve prostate intervention accuracy. The system adaptively corrects needle deviation, significantly reducing placement errors for better clinical outcomes.

Area of Science:

  • Robotics
  • Medical Devices
  • Surgical Navigation

Background:

  • Accurate needle placement is critical for transperineal prostate interventions like biopsy, thermal ablation, and brachytherapy.
  • Needle deviation during insertion, caused by tissue interaction, poses a significant challenge for achieving precise needle placement.
  • Existing needle trajectory correction methods often require specialized, unapproved needles or patient-specific tissue models, limiting clinical applicability.

Purpose of the Study:

  • To develop and evaluate a robot-assisted collaborative needle insertion method for transperineal prostate interventions.
  • To address the challenge of needle deviation during manual insertion using a conventional needle and an actuated passive needle guide.
  • To create a system that adaptively corrects needle trajectory without requiring prior knowledge of needle or tissue properties.
Keywords:
data-driven modelmedical roboticsneedle insertion assisttransperineal prostate intervention

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Main Methods:

  • A robot-assisted collaborative needle insertion system was developed, comprising an actuated passive needle guide and a standard needle.
  • The system assists physicians during manual needle insertion, with actuators adjusting the needle guide to steer the needle and compensate for deviations.
  • A novel data-driven algorithm controls the needle guide, eliminating the need for a priori information on needle or tissue characteristics.
  • The method was validated through experiments using both in vitro and ex vivo phantoms.

Main Results:

  • Experiments in ex vivo tissue demonstrated a mean final placement error of 0.36 mm.
  • The assistive correction method achieved a 96.25% reduction in placement error compared to unassisted insertions.
  • The system successfully corrected needle deflection during collaborative manual insertion.

Conclusions:

  • The proposed closed-loop formulation effectively corrects needle deflection in collaborative manual insertion.
  • The developed method shows significant potential for straightforward translation into clinical practice for prostate interventions.
  • This approach enhances the precision and reliability of transperineal prostate interventions, potentially improving patient outcomes.