1,628 research outputs found
Medical image computing and computer-aided medical interventions applied to soft tissues. Work in progress in urology
Until recently, Computer-Aided Medical Interventions (CAMI) and Medical
Robotics have focused on rigid and non deformable anatomical structures.
Nowadays, special attention is paid to soft tissues, raising complex issues due
to their mobility and deformation. Mini-invasive digestive surgery was probably
one of the first fields where soft tissues were handled through the development
of simulators, tracking of anatomical structures and specific assistance
robots. However, other clinical domains, for instance urology, are concerned.
Indeed, laparoscopic surgery, new tumour destruction techniques (e.g. HIFU,
radiofrequency, or cryoablation), increasingly early detection of cancer, and
use of interventional and diagnostic imaging modalities, recently opened new
challenges to the urologist and scientists involved in CAMI. This resulted in
the last five years in a very significant increase of research and developments
of computer-aided urology systems. In this paper, we propose a description of
the main problems related to computer-aided diagnostic and therapy of soft
tissues and give a survey of the different types of assistance offered to the
urologist: robotization, image fusion, surgical navigation. Both research
projects and operational industrial systems are discussed
BiopSym: a simulator for enhanced learning of ultrasound-guided prostate biopsy
This paper describes a simulator of ultrasound-guided prostate biopsies for
cancer diagnosis. When performing biopsy series, the clinician has to move the
ultrasound probe and to mentally integrate the real-time bi-dimensional images
into a three-dimensional (3D) representation of the anatomical environment.
Such a 3D representation is necessary to sample regularly the prostate in order
to maximize the probability of detecting a cancer if any. To make the training
of young physicians easier and faster we developed a simulator that combines
images computed from three-dimensional ultrasound recorded data to haptic
feedback. The paper presents the first version of this simulator
Initial validation of a virtual-reality learning environment for prostate biopsies: realism matters!
: Introduction-objectives: A virtual-reality learning environment dedicated
to prostate biopsies was designed to overcome the limitations of current
classical teaching methods. The aim of this study was to validate reliability,
face, content and construct of the simulator. Materials and methods: The
simulator is composed of a) a laptop computer, b) a haptic device with a stylus
that mimics the ultrasound probe, c) a clinical case database including three
dimensional (3D) ultrasound volumes and patient data and d) a learning
environment with a set of progressive exercises including a randomized 12-core
biopsy procedure. Both visual (3D biopsy mapping) and numerical (score)
feedback are given to the user. The simulator evaluation was conducted in an
academic urology department on 7 experts and 14 novices who each performed a
virtual biopsy procedure and completed a face and content validity
questionnaire. Results: The overall realism of the biopsy procedure was rated
at a median of 9/10 by non-experts (7.1-9.8). Experts rated the usefulness of
the simulator for the initial training of urologists at 8.2/10 (7.9-8.3), but
reported the range of motion and force feedback as significantly less realistic
than novices (p=0.01 and 0.03 respectively). Pearson's r correlation
coefficient between correctly placed biopsies on the right and left side of the
prostate for each user was 0.79 (p<0.001). The 7 experts had a median score of
64% (59-73), and the 14 novices a median score of 52% (43-67), without reaching
statistical significance (p=0,19). Conclusion: The newly designed virtual
reality learning environment proved its versatility and its reliability, face
and content were validated. Demonstrating the construct validity will require
improvements to the realism and scoring system used
Accuracy of multiparametric magnetic resonance imaging to detect significant prostate cancer and index lesion location
Background: Multiparametric magnetic resonance imaging (mpMRI) of the prostate appears to improve prostate cancer detection, but studies comparing mpMRI to histopathology at the time of radical prostatectomy (RP) are lacking. This retrospective study determined the accuracy of mpMRI predicting Gleason score and index lesion location at the time of RP, the current gold standard for diagnosis.
Methods: Between April 2013 and April 2016, a database of all men aged more than 40 years who underwent RP after positive transrectal ultrasound biopsy by an experienced urological surgeon was collated at a single regional centre. This was cross‐referenced with a database of all men who had mpMRIs performed at a single centre and reported according to Prostate Imaging Reporting and Data System (PI‐RADS version 1) during this period to generate a sample size of 64 men. A Spearman\u27s rho test was utilized to calculate correlation.
Results: Median age of patients was 64 years, the median prostate‐specific antigen at RP was 6.22 ng/mL. mpMRI was positive (≥PI‐RADS 3) in 85.9% of patients who underwent RP. More than 92% of participants had Gleason ≥7 disease. A positive relationship between mpMRI prostate PI‐RADS score and RP cancer volume was demonstrated. An anatomical location correlation calculated in octants was found to be 89.1% accurate.
Conclusion: mpMRI accurately detects prostate cancer location and severity when compared with gold standard histopathology at the time of RP. It thus has an important role in planning for future prostate biopsy and cancer treatment
New Mechatronic Systems for the Diagnosis and Treatment of Cancer
Both two dimensional (2D) and three dimensional (3D) imaging modalities are useful tools for viewing the internal anatomy. Three dimensional imaging techniques are required for accurate targeting of needles. This improves the efficiency and control over the intervention as the high temporal resolution of medical images can be used to validate the location of needle and target in real time. Relying on imaging alone, however, means the intervention is still operator dependent because of the difficulty of controlling the location of the needle within the image. The objective of this thesis is to improve the accuracy and repeatability of needle-based interventions over conventional techniques: both manual and automated techniques. This includes increasing the accuracy and repeatability of these procedures in order to minimize the invasiveness of the procedure.
In this thesis, I propose that by combining the remote center of motion concept using spherical linkage components into a passive or semi-automated device, the physician will have a useful tracking and guidance system at their disposal in a package, which is less threatening than a robot to both the patient and physician. This design concept offers both the manipulative transparency of a freehand system, and tremor reduction through scaling currently offered in automated systems. In addressing each objective of this thesis, a number of novel mechanical designs incorporating an remote center of motion architecture with varying degrees of freedom have been presented. Each of these designs can be deployed in a variety of imaging modalities and clinical applications, ranging from preclinical to human interventions, with an accuracy of control in the millimeter to sub-millimeter range
Needle and Biopsy Robots: a Review
Purpose of the review Robotics is a rapidly advancing field, and its introduction in healthcare can have a multitude of benefits for clinical practice. Especially, applications depending on the radiologist\u2019s accuracy and precision, such as percutaneous interventions, may profit. This paper provides an overview of recent robot-assisted percutaneous solutions. Recent findings Percutaneous interventions are relatively simple and the quality of the procedure increases a lot by introducing robotics due to the improved accuracy and precision. The success of the procedure is heavily dependent on the ability to merge pre- and intraoperative images, as an accurate estimation of the current target location allows to exploit the robot\u2019s capabilities. Summary Despite much research, the application of robotics in some branches of healthcare is not commonplace yet. Recent advances in percutaneous robotic solutions and imaging are highlighted, as they will pave the way to more widespread implementation of robotics in clinical practic
Increasing the precision of the biopsy with robots: two case studies
Robotics is a rapidly advancing field and its introduction in healthcare can have a multitude of benefits for clinical practice. Especially applications depending on the radiologist’s accuracy and precision, such as percutaneous interventions, may profit. Percutaneous interventions are relatively simple and the quality of the procedure increases a lot by introducing robotics due to the improved accuracy and precision. This paper provides the description of two robotic systems for percutaneous interventions: breast biopsy and prostate biopsy. The systems presented here are complete prototypes in an advanced state ready to be tested in clinical practice.https://youtu.be/KZxfRtg0afg
https://www.youtube.com/watch?v=AB3Qa6LyHP
Image Guided Robots for Urology
This dissertation addresses the development of medical image-guided robots and their applications in urology. Image-guided robots integrate medical image information with robotic precision to assist the planning and execution of the image-guided interventions. Robots guided by two different image modalities, ultrasound and MR image, were developed. Ultrasound image-guided robots manipulate an ultrasound probe and a needle-guide that are calibrated with respect to the robot for image-guided targeting. A method for calibration was developed and verified through the image-guided targeting experiments. Robotic manipulation of the calibrated probe allows acquisition of image slices at precise location, which can be combined to generate a 3D ultrasound image. Software for 3D ultrasound image acquisition, processing, and segmentation was developed as a part of the image-guided robot system.
The feasibility of several image-guided intervention procedures using the ultrasound image-guided robot system was tested. The robot was used in a clinical trial of intraoperative transrectal ultrasound (TRUS) guided prostatectomy. The accuracy of TRUS-guided prostate biopsy using the robot was evaluated in a comparative study versus the classic human operation of the probe. Robot controlled palpation and image processing methods were developed for ultrasound elastography imaging of the prostate. An ultrasound to CT image-fusion method using the robot as a common reference was developed for percutaneous access of the kidney.
MRI-guided robots were developed for transrectal and transperineal prostate biopsy. Extensive in-vitro tests were performed to ensure MRI compatibility and image-guided accuracy of the robots. The transrectal robot was evaluated in an animal study and the transperineal robot is undergoing a clinical trial. The collection of methods and algorithms presented in this dissertation can contribute to the development of image-guided robots that may provide less invasive and more precise interventions in urology, interventional radiology, and other fields
Prostate biopsies assisted by comanipulated probe-holder: first in man
International audiencePurpose: a comanipulator for assisting endorectal prostate biopsies is evaluated through a first-in man clinical trial. This lightweight system, based on conventional robotic components, possesses 6 degrees of freedom. It uses 3 electric motors and 3 brakes. It features a free mode, where its low friction and inertia allow for natural manipulation of the probe and a locked mode, exhibiting both a very low stiffness and a high steady state precision. Methods: Clinical trials focusing on the free mode and the locked mode of the robot are presented. The objective is to evaluate the practical usability and performance of the robot during clinical procedures. A research protocol for a prospective randomized clinical trial has been designed. Its specific goal is to compare the accuracy of biopsies performed with and without the assistance of the comanipulator. Results:The accuracy is compared between biopsies performed with and without the assistance of the comanipulator, across the 10 first patients included in the trial. Results show a statistically significant increase of the precision.. This work is partially funded french state funds managed by the ANR within the Investissements d'Avenir programme (Labex CAMI) under reference ANR-11-LABX-0004. 2 Marie-Aude Vitrani et al
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