Top

Published in:

Open Access 01-02-2012 | Urogenital

Evaluation of a robotic technique for transrectal MRI-guided prostate biopsies

Authors: Martijn G. Schouten, Joyce G. R. Bomers, Derya Yakar, Henkjan Huisman, Eva Rothgang, Dennis Bosboom, Tom W. J. Scheenen, Sarthak Misra, Jurgen J. Fütterer

Published in: European Radiology | Issue 2/2012

Abstract

Objectives

To evaluate the accuracy and speed of a novel robotic technique as an aid to perform magnetic resonance image (MRI)-guided prostate biopsies on patients with cancer suspicious regions.

Methods

A pneumatic controlled MR-compatible manipulator with 5 degrees of freedom was developed in-house to guide biopsies under real-time imaging. From 13 consecutive biopsy procedures, the targeting error, biopsy error and target displacement were calculated to evaluate the accuracy. The time was recorded to evaluate manipulation and procedure time.

Results

The robotic and manual techniques demonstrated comparable results regarding mean targeting error (5.7 vs 5.8 mm, respectively) and mean target displacement (6.6 vs 6.0 mm, respectively). The mean biopsy error was larger (6.5 vs 4.4 mm) when using the robotic technique, although not significant. Mean procedure and manipulation time were 76 min and 6 min, respectively using the robotic technique and 61 and 8 min with the manual technique.

Conclusions

Although comparable results regarding accuracy and speed were found, the extended technical effort of the robotic technique make the manual technique – currently – more suitable to perform MRI-guided biopsies. Furthermore, this study provided a better insight in displacement of the target during in vivo biopsy procedures.

Mian BM, Naya Y, Okihara K et al (2002) Predictors of cancer in repeat extended multisite prostate biopsy in men with previous negative extended multisite biopsy. Urology 60:836–840PubMedCrossRef

Roehl KA, Antenor JA, Catalona WJ (2002) Serial biopsy results in prostate cancer screening study. J Urol 167:2435–2439PubMedCrossRef

Hambrock T, Somford DM, Hoeks C et al (2010) Magnetic resonance imaging guided prostate biopsy in men with repeat negative biopsies and increased prostate specific antigen. J Urol 183:520–527PubMedCrossRef

Schouten MG, Ansems J, Renema WKJ et al (2010) The accuracy and safety aspects of a novel robotic needle guide manipulator to perform transrectal prostate biopsies. Med Phys 37:4744–4750PubMedCrossRef

Stamey TA, Freiha FS, McNeal JE et al (1993) Localized prostate cancer. Relationship of tumor volume to clinical significance for treatment of prostate cancer. Cancer 71:933–938PubMedCrossRef

Stone NN, Roy J, Hong S et al (2002) Prostate gland motion and deformation caused by needle placement during brachytherapy. Brachytherapy 1:154–160PubMedCrossRef

Lagerburg V, Moerland MA, Lagendijk JJ et al (2005) Measurement of prostate rotation during insertion of needles for brachytherapy. Radiother Oncol 77:318–323PubMedCrossRef

Damore SJ, Syed AM, Puthawala AA et al (2000) Needle displacement during HDR brachytherapy in the treatment of prostate cancer. Int J Radiat Oncol Biol Phys 46:1205–1211PubMedCrossRef

Yakar D, Schouten MG, Bosboom DG et al (2011) Feasibility of a pneumatically actuated mr-compatible robot for transrectal prostate biopsy guidance. Radiology. doi:10.1148/radiol.11101106

10.

Lorenz SR, Kirchberg KJ, Zuehlsdorff S et al (2005) Interactive frontend (IFE): a platform for graphical MR scanner control and scan automation. Proc Intl Soc Mag Reson Med 13:2170

11.

Yutzy SR, Duerk JL (2008) Pulse sequences and system interfaces for interventional and real-time MRI. J Magn Reson Imaging 27:267–275PubMedCrossRef

12.

Beyersdorff D, Winkel A, Hamm B et al (2005) MR imaging-guided prostate biopsy with a closed MR unit at 1.5 T: initial results. Radiology 234:576–581PubMedCrossRef

13.

Huisman HJ, Fütterer JJ, van Lin EN et al (2005) Prostate cancer: precision of integrating functional MR imaging with radiation therapy treatment by using fiducial gold markers. Radiology 236:311–317PubMedCrossRef

14.

Fischer GS, Iordachita I, Csoma C et al (2008) MRI-compatible pneumatic robot for transperineal prostate needle placement. IEEE/ASME Trans Mechatron 13:295–305CrossRef

15.

Tokuda J, Fischer GS, DiMaio SP et al (2010) Integrated navigation and control software system for MRI-guided robotic prostate interventions. Comput Med Imaging Graph 34:3–8PubMedCrossRef

16.

Muntener M, Patriciu A, Petrisor D et al (2008) Transperineal prostate intervention: robot for fully automated MR imaging-system description and proof of principle in a canine model. Radiology 247:543–549PubMedCrossRef

17.

van den Bosch MR, Moman MR, van Vulpen VM et al (2010) MRI-guided robotic system for transperineal prostate interventions: proof of principle. Phys Med Biol 55:N133–N140PubMedCrossRef

18.

Zangos S, Melzer A, Eichler K (2011) MR-compatible assistance system for biopsy in a high-field-strength system: initial results in patients with suspicious prostate lesions. Radiology 59:903–10CrossRef

19.

Xu H, Lasso A, Vikal S et al (2010) Accuracy validation for MRI-guided robotic prostate biopsy. Medical Imaging 2010: Visualization, Image-Guided Procedures, and Modeling 7625:762517–762518

20.

Hu Y, Ahmed HU, Taylor Z et al (2010) MR to ultrasound registration for image-guided prostate interventions. Med Image Anal. doi:10.1016/j.media.2010.11.003

21.

Karnik VV, Fenster A, Bax J et al (2010) Assessment of image registration accuracy in three dimensional transrectal iltrasound guided biopsy. Med Phys 37:802–813PubMedCrossRef

22.

Martin S, Baumann M, Daanen V et al (2010) MR prio based automatic segmentation of the prostate in TRUS images for MR/TRUS data fusion. Biomedical Imaging: From Nano to Macro, IEEE International Symposium 2010:640–643

23.

Singh AK, Kruecker J, Xu S et al (2008) Initial clinical experience with real-time transrectal ultrasonography-magnetic resonance imaging fusion-guided prostate biopsy. BJU Int 101:842–845CrossRef

24.

Hambrock T, Fütterer JJ, Huisman HJ et al (2008) Thirty-two-channel coil 3T magnetic resonance-guided biopsies of prostate tumor suspicious regions identified on multimodality 3T magnetic resonance imaging: technique and feasibility. Invest Radiol 43:686–694PubMedCrossRef

25.

Tadayyon H, Lasso A, Gill S et al (2010) Target motion compensation in MRI-Guided prostate biopsy with static images. EMBS Engineering in Medicine and Biology Society (EMBC), Annual International Conference 2010:5416–5419, doi:10.1109

26.

Misra S, Macura KJ, Ramesh KT et al (2009) The importance of organ geometry and boundary constraints for planning of medical interventions. Med Eng Phys 31:195–206PubMedCrossRef

27.

Abolhassani N, Patel R, Moallem M (2006) Control of soft tissue deformation during robotic needle insertion. Minim Invasive Ther Allied Technol 15:165–176PubMedCrossRef

28.

Lagerburg V, Moerland MA, van Vulpen VM et al (2006) A new robotic needle insertion method to minimise attendant prostate motion. Radiother Oncol 80:73–77PubMedCrossRef

29.

Lagerburg V, Moerland MA, Konings MK et al (2006) Development of a tapping device: a new needle insertion method for prostate brachytherapy. Phys Med Biol 51:891–902PubMedCrossRef

30.

Meltsner MA, Ferrier NJ, Thomadsen BR (2007) Observations on rotating needle insertions using a brachytherapy robot. Phys Med Biol 52:6027–6037PubMedCrossRef

31.

Lambert EH, Bolte K, Masson P et al (2007) Focal cryosurgery: encouraging health outcomes for unifocal prostate cancer. Urology 69:1117–1120PubMedCrossRef

32.

Lindner U, Lawrentschuk N, Weersink RA et al (2010) Focal laser ablation for prostate cancer followed by radical prostatectomy: validation of focal therapy and imaging accuracy. Eur Urol 57:1111–1114PubMedCrossRef

33.

de Senneville BD, Mougenot C, Quesson B et al (2007) MR thermometry for monitoring tumor ablation. Eur Radiol 17:2401–2410PubMedCrossRef

Title: Evaluation of a robotic technique for transrectal MRI-guided prostate biopsies
Authors: Martijn G. Schouten
Joyce G. R. Bomers
Derya Yakar
Henkjan Huisman
Eva Rothgang
Dennis Bosboom
Tom W. J. Scheenen
Sarthak Misra
Jurgen J. Fütterer
Publication date: 01-02-2012
Publisher: Springer-Verlag
Published in: European Radiology / Issue 2/2012
Print ISSN: 0938-7994
Electronic ISSN: 1432-1084
DOI: https://doi.org/10.1007/s00330-011-2259-3

At a glance: The STEP trials

Springer Medicine

Evaluation of a robotic technique for transrectal MRI-guided prostate biopsies

Abstract

Objectives

Methods

Results

Conclusions

At a glance: The STEP trials

Springer Medicine

Abstract

Objectives

Methods

Results

Conclusions

Please log in to get access to this content

Other articles of this Issue 2/2012

Percutaneous ultrasound-guided cholangiography using microbubbles to evaluate the dilated biliary tract: initial experience

MRI contrast enhancement of malignant liver tumours following successful cryoablation

Prostate MRI: diffusion-weighted imaging at 1.5T correlates better with prostatectomy Gleason grades than TRUS-guided biopsies in peripheral zone tumours

Knee joint anterior malalignment and patellofemoral osteoarthritis: an MRI study

Comparison of image quality and radiation dose of different pulmonary CTA protocols on a 128-slice CT: high-pitch dual source CT, dual energy CT and conventional spiral CT

Impact of intermediate mammography assessment on the likelihood of false-positive results in breast cancer screening programmes