TY - GEN
T1 - Preliminary evaluation of robotic transrectal biopsy system on an interventional planning software
AU - Velazco-Garcia, Jose D.
AU - Leiss, Ernst L.
AU - Karkoub, Mansour
AU - Tsiamyrtzis, Panagiotis
AU - Tsekos, Nikolaos V.
AU - Navkar, Nikhil V.
AU - Balakrishnan, Shidin
AU - Abinahed, Julien
AU - Al-Ansari, Abdulla
AU - Younes, Georges
AU - Darweesh, Adham
AU - Al-Rumaihi, Khalid
AU - Christoforou, Eftychios G.
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/10
Y1 - 2019/10
N2 - Prostate biopsy is considered as a definitive way for diagnosing prostate malignancies. Urologists are currently moving towards MR-guided prostate biopsies over conventional transrectal ultrasound-guided biopsies for prostate cancer detection. Recently, robotic systems have started to emerge as an assistance tool for urologists to perform MR-guided prostate biopsies. However, these robotic assistance systems are designed for a specific clinical environment and cannot be adapted to modifications or changes applied to the clinical setting and/or workflow. This work presents the preliminary design of a cable-driven manipulator developed to be used in both MR scanners and MR-ultrasound fusion systems. The proposed manipulator design and functionality are evaluated on a simulated virtual environment. The simulation is created on an in-house developed interventional planning software to evaluate the ergonomics and usability. The results show that urologists can benefit from the proposed design of the manipulator and planning software to accurately perform biopsies of targeted areas in the prostate.
AB - Prostate biopsy is considered as a definitive way for diagnosing prostate malignancies. Urologists are currently moving towards MR-guided prostate biopsies over conventional transrectal ultrasound-guided biopsies for prostate cancer detection. Recently, robotic systems have started to emerge as an assistance tool for urologists to perform MR-guided prostate biopsies. However, these robotic assistance systems are designed for a specific clinical environment and cannot be adapted to modifications or changes applied to the clinical setting and/or workflow. This work presents the preliminary design of a cable-driven manipulator developed to be used in both MR scanners and MR-ultrasound fusion systems. The proposed manipulator design and functionality are evaluated on a simulated virtual environment. The simulation is created on an in-house developed interventional planning software to evaluate the ergonomics and usability. The results show that urologists can benefit from the proposed design of the manipulator and planning software to accurately perform biopsies of targeted areas in the prostate.
KW - Intervention planning software
KW - MRI-guided intervention
KW - Prostate Biopsy
KW - Robot-assisted interventions
UR - http://www.scopus.com/inward/record.url?scp=85078574572&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85078574572&partnerID=8YFLogxK
U2 - 10.1109/BIBE.2019.00070
DO - 10.1109/BIBE.2019.00070
M3 - Conference contribution
AN - SCOPUS:85078574572
T3 - Proceedings - 2019 IEEE 19th International Conference on Bioinformatics and Bioengineering, BIBE 2019
SP - 357
EP - 362
BT - Proceedings - 2019 IEEE 19th International Conference on Bioinformatics and Bioengineering, BIBE 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 19th International Conference on Bioinformatics and Bioengineering, BIBE 2019
Y2 - 28 October 2019 through 30 October 2019
ER -