NDLI: Ultrasound Guided Robotic System for Transperineal Biopsy of the Prostate

Content Provider	IEEE Xplore Digital Library
Author	Phee, L. Di Xiao Yuen, J. Chee Fatt Chan Ho, H. Choon Hua Thng Christopher Cheng Wan Sing Ng
Copyright Year	2005
Description	Author affiliation: School of Mechanical & Production Engineering, Nanyang Technological University, Singapore E-mail: msjphee@ntu.edu.sg (Phee, L.)
Abstract	We present a prototype of a robotic system for accurate and consistent insertion of a percutaneous biopsy needle into the prostate. The robot manipulates a transrectal ultrasound (TRUS) probe to collect a series of 2 dimensional (2D) images of the prostate, which are later used to create a 3D computer model of the organ. The urologist defines the needle’s entry point at the perineal wall and the biopsy points within the 3D model following a biopsy protocol or otherwise. The robotic system then calculates the required trajectory of the needle. The path of the needle going into the prostate can also be simulated with the 3D model before the actual insertion. Being satisfied with the predicted outcome, the urologist configures the robot accordingly and manually pushes the mechanically guided needle into the patient to take the biopsy. Cadaveric and human trials have validated the robot’s needle placement error to be less than 2.5mm. Our future work includes the integration of a cancer predictive modality into the system to increase the cancer detection rate. The robotic system could also be modified to accurately place foreign bodies into the prostate, which could improve therapeutic procedures such as Brachytherapy.
Starting Page	1315
Ending Page	1320
File Size	484130
Page Count	6
File Format	PDF
ISBN	078038914X
DOI	10.1109/ROBOT.2005.1570297
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2005-04-18
Publisher Place	Spain
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Ultrasonic imaging Robots Biopsy Needles Prototypes Probes Perineum Protocols Humans Cancer ultrasound guidance Prostate biopsy medical robot image-guided surgery
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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