A 3-D Ultrasound Robotic Prostate Brachytherapy System With Prostate Motion Tracking

This paper describes a new 3-D ultrasound robotic prostate brachytherapy system. It uses a stationary 3-D ultrasound probe rigidly fixed to a robotic needle insertion mechanism. The novelty of the system is its ability to track prostate motion intraoperatively to allow the dose planning and needle t...

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Bibliographic Details
Published in:IEEE transactions on robotics 2012-12, Vol.28 (6), p.1382-1397
Main Authors: Hungr, N., Baumann, M., Long, Jean-Alexandre, Troccaz, J.
Format: Article
Language:English
Subjects:
3-D technology
3-D ultrasound guidance
Algorithms
Applied sciences
Artificial intelligence
Biological and medical sciences
Brachytherapy
Computer science
control theory
systems
Control theory. Systems
Exact sciences and technology
Experiments
Gynecology. Andrology. Obstetrics
Male genital diseases
Measurement errors
Mechanism design
Medical robotics
medical robots and systems
Medical sciences
Needles
Pattern recognition. Digital image processing. Computational geometry
Probes
Prostate cancer
prostate motion tracking
prostate registration
Radiation therapy
Radiation therapy and radiosensitizing agent
robotic brachytherapy
Robotics
Tracking
Treatment with physical agents
Treatment. General aspects
Tumors
Ultrasonic imaging
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Summary:This paper describes a new 3-D ultrasound robotic prostate brachytherapy system. It uses a stationary 3-D ultrasound probe rigidly fixed to a robotic needle insertion mechanism. The novelty of the system is its ability to track prostate motion intraoperatively to allow the dose planning and needle trajectories or depths to be adapted to take into account these motions. Prostate tracking is done using a fast 3-D ultrasound registration algorithm previously validated for biopsy guidance. The 7-degree-of-freedom (7-DOF) robot and ultrasound probe are calibrated together with an accuracy of 0.9 mm, allowing the needles to be precisely inserted to the seed targets chosen in the reference ultrasound image. Experiments were conducted on mobile, deformable synthetic prostate phantoms using a prototype laboratory system. Results showed that, with prostate motions of up to 7 mm, the system was able to reach the chosen targets with less than 2-mm accuracy in the needle insertion direction. This measured accuracy included extrinsic measurement errors of up to 1.1 mm. A preliminary cadaver feasibility study was also described in preparation for more realistic experimentation of the system.
ISSN:1552-3098
1941-0468
DOI:10.1109/TRO.2012.2203051