naa a22 4500 510807070 CHVBK 20180411083423.0 cr unu---uuuuu 180411e20131101xx s 000 0 eng 10.1007/s11548-013-0898-3 doi (NATIONALLICENCE)springer-10.1007/s11548-013-0898-3 Towards ultrasound probe positioning optimization during prostate needle biopsy using pressure feedback [Elektronische Daten] [Seyed Mousavi, Kaamran Raahemifar, Stephen Pautler, Abbas Samani] Purpose: Accurate Transrectal Ultrasound (TRUS)-guided prostate needle biopsy requires registering preoperative 3D TRUS or MR image, in which tumors and other suspicious areas are visible, to intraoperative 2D TRUS images. Such image registration is time-consuming while its real-time implementation is yet to be developed. To bypass this registration step, robotic needle biopsy systems can be used to place the US probe at the same position relative to the prostate during the 3D and 2D image acquisition to ensure similar prostate deformation. To have such similar deformation, only visual feedback is not sufficient as such feedback can be used to only guarantee that the whole prostate is within the field of view irrespective of the probe's orientation. As such, contact pressure feedback can be utilized to ensure consistent minimum contact between the probe and prostate. Method: A robotic system is proposed where a TRUS probe with pressure sensor array is used. The contact pressure can be measured during imaging and used to provide feedback in conjunction with an optimization algorithm for consistent probe positioning. The robotic system is driven by the feedback to position the probe such that pressure pattern of the sensors during 2D image acquisition is similar to the pressure pattern during 3D image acquisition. The proposed method takes into account the patient's body movement expected during image acquisition. In this study, an in silico phantom is used where the simulated contact pressure distribution required in the optimization algorithm is obtained using a prostate finite element model. Result: Starting from an arbitrary position where the probe contacts the phantom, this position was varied systematically until a position corresponding to maximum pressure pattern similarity between contact pressure patterns corresponding to the 2D and 3D imaging was achieved successfully. Conclusion: Results obtained from the in silico phantom study indicate that the proposed technique is capable of ensuring having only minimal relative prostate deformation between preoperative image acquisition and intraoperative imaging used for guiding needle biopsy, paving the way for faster and more accurate registration. CARS, 2013 Prostate needle biopsy nationallicence TRUS imaging nationallicence Pressure feedback nationallicence Tactile sensors nationallicence Mousavi Seyed Department of Electrical and Computer Engineering, Western University, London, ON, Canada aut Raahemifar Kaamran Department of Electrical and Computer Engineering, Ryerson University, Toronto, ON, Canada aut Pautler Stephen Department of Oncology, Western University, London, ON, Canada aut Samani Abbas Department of Electrical and Computer Engineering, Western University, London, ON, Canada aut International Journal of Computer Assisted Radiology and Surgery Springer Berlin Heidelberg 8/6(2013-11-01), 1053-1061 1861-6410 8:6<1053 2013 8 11548 https://doi.org/10.1007/s11548-013-0898-3 text/html Onlinezugriff via DOI 1 research-article jats NATIONALLICENCE 856 40 https://doi.org/10.1007/s11548-013-0898-3 text/html Onlinezugriff via DOI NATIONALLICENCE 700 1- Mousavi Seyed Department of Electrical and Computer Engineering, Western University, London, ON, Canada aut NATIONALLICENCE 700 1- Raahemifar Kaamran Department of Electrical and Computer Engineering, Ryerson University, Toronto, ON, Canada aut NATIONALLICENCE 700 1- Pautler Stephen Department of Oncology, Western University, London, ON, Canada aut NATIONALLICENCE 700 1- Samani Abbas Department of Electrical and Computer Engineering, Western University, London, ON, Canada aut NATIONALLICENCE 773 0- International Journal of Computer Assisted Radiology and Surgery Springer Berlin Heidelberg 8/6(2013-11-01), 1053-1061 1861-6410 8:6<1053 2013 8 11548 Metadata rights reserved Springer special CC-BY-NC licence nationallicence BK010053 XK010053 XK010000 NATIONALLICENCE NATIONALLICENCE NL-springer