MRI-guided robotic prostate biopsy: a clinical accuracy validation.

Helen Xu, Andras Lasso, Siddharth Vikal, Peter Guion, Axel Krieger, Aradhana Kaushal, Louis L. Whitcomb, Gabor Fichtinger

Research output: Chapter in Book/Report/Conference proceedingChapter

22 Scopus citations


Prostate cancer is a major health threat for men. For over five years, the U.S. National Cancer Institute has performed prostate biopsies with a magnetic resonance imaging (MRI)-guided robotic system. PURPOSE: A retrospective evaluation methodology and analysis of the clinical accuracy of this system is reported. METHODS: Using the pre and post-needle insertion image volumes, a registration algorithm that contains a two-step rigid registration followed by a deformable refinement was developed to capture prostate dislocation during the procedure. The method was validated by using three-dimensional contour overlays of the segmented prostates and the registrations were accurate up to 2 mm. RESULTS: It was found that tissue deformation was less of a factor than organ displacement. Out of the 82 biopsies from 21 patients, the mean target displacement, needle placement error, and clinical biopsy error was 5.9 mm, 2.3 mm, and 4 mm, respectively. CONCLUSION: The results suggest that motion compensation for organ displacement should be used to improve targeting accuracy.

Original languageEnglish (US)
Title of host publicationMedical image computing and computer-assisted intervention : MICCAI ... International Conference on Medical Image Computing and Computer-Assisted Intervention
Number of pages9
EditionPt 3
StatePublished - 2010
Externally publishedYes

ASJC Scopus subject areas

  • General Medicine


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