Share Email Print
cover

Proceedings Paper

Robotic-aided 3D TRUS guided intraoperative prostate brachytherapy
Author(s): Zhouping Wei; Gang Wan; Lori Gardi; Donal B. Downey; Aaron Fenster
Format Member Price Non-Member Price
PDF $14.40 $18.00

Paper Abstract

We have developed a robotic aided 3D transrectal ultrasound (TRUS) guided, intraoperative prostate brachytherapy. This system allows brachytherapy needles to be inserted into the prostate along various trajectories including oblique to avoid pubic arch interference. We unified the robotic coordinate system with the 3D TRUS image coordinate system. In addition, we also hdeveloped the method to automatically detect the needle in TRUS images for oblique insertion. We have evaluated our prototype system using prostate phantoms in terms of different needle insertion depths and the distances of the needle from the TRUS transducer. We have shown that our robotic aided 3D TRUS guided system was capable of placing the needle tip with approximately 0.74 mm ± 0.24 mm accuracy at a target identified in the 3D TRUS image. Brachytherapy accuracy was tested by dropping 0.8 mm beads into prostate phantoms via various angles up to ± 20°. Our results showed that the bead-dropping accuracy was 2.59 mm ± 0.76 mm with the error due to the needle deflection caused by the needle's bevel.

Paper Details

Date Published: 5 May 2004
PDF: 10 pages
Proc. SPIE 5367, Medical Imaging 2004: Visualization, Image-Guided Procedures, and Display, (5 May 2004); doi: 10.1117/12.533886
Show Author Affiliations
Zhouping Wei, Robarts Research Institute (Canada)
Univ. of Western Ontario (Canada)
Gang Wan, Robarts Research Institute (Canada)
Univ. of Western Ontario (Canada)
Lori Gardi, Robarts Research Institute (Canada)
Donal B. Downey, Robarts Research Institute (Canada)
London Health Sciences Ctr. (Canada)
Aaron Fenster, Robarts Research Institute (Canada)
Univ. of Western Ontario (Canada)
London Health Sciences Ctr. (Canada)


Published in SPIE Proceedings Vol. 5367:
Medical Imaging 2004: Visualization, Image-Guided Procedures, and Display
Robert L. Galloway, Editor(s)

© SPIE. Terms of Use
Back to Top