Image-guided prostate biopsy robots: A review

At present, the incidence of prostate cancer (PCa) in men is increasing year by year. So, the early diagnosis of PCa is of great significance. Transrectal ultrasonography (TRUS)-guided biopsy is a common method for diagnosing PCa. The biopsy process is performed manually by urologists but the diagnostic rate is only 20%–30% and its reliability and accuracy can no longer meet clinical needs. The image-guided prostate biopsy robot has the advantages of a high degree of automation, does not rely on the skills and experience of operators, reduces the work intensity and operation time of urologists and so on. Capable of delivering biopsy needles to pre-defined biopsy locations with minimal needle placement errors, it makes up for the shortcomings of traditional free-hand biopsy and improves the reliability and accuracy of biopsy. The integration of medical imaging technology and the robotic system is an important means for accurate tumor location, biopsy puncture path planning and visualization. This paper mainly reviews image-guided prostate biopsy robots. According to the existing literature, guidance modalities are divided into magnetic resonance imaging (MRI), ultrasound (US) and fusion image. First, the robot structure research by different guided methods is the main line and the actuators and material research of these guided modalities is the auxiliary line to introduce and compare. Second, the robot image-guided localization technology is discussed. Finally, the image-guided prostate biopsy robot is summarized and suggestions for future development are provided

Integrated System for Robot-Assisted in Prostate Biopsy in Closed MRI Scanner

Abstract-Prostate cancer biopsy is a routine medical procedure, yet conventional techniques suffer from low sensitivity attributed to suboptimal image guidance and needle placement. Targeting small lesions and foci (5 mm in diameter) is particularly prone to errors. We developed an integrated system to perform robot-assisted transperineal needle insertions into the prostate, under Magnetic Resonance Imaging (MRI) guidance. The system provides arbitrary needle trajectories and allows for simultaneous surveillance and correction of the needle path, based on intra-operative MRI. System functionality and data transfer and processing tests were conducted. Five lesions embedded in the gel phantom were targeted successfully, while communication delays (due to higher image frame rates) had no adverse affect on robot-software communication. The system was sufficiently resistant to high network loads and performed with an acceptable transfer rate