Robotic Transrectal Ultrasound-Guided Prostate Biopsy
We present a robot-assisted approach for transrectal ultrasound guided prostate biopsy. A robotic hands-free probe manipulator and a software for image guidance are presented. Methods to minimize the deformation of the prostate were developed to reduce targeting errors. Preclinical tests showed that targeting can be accomplished with accuracy on the order of 1mm with submillimetric prostate deformations. An IRB-approved clinical trial on five patients was successful with an average procedure time of 13min and millimeter targeting accuracy. Robot-assisted prostate biopsy is safe and feasible. Hands-free, skill independent, accurate needle targeting has the potential to increase the detection of clinically significant prostate cancer.