CT-BASED CLINICAL PHANTOM VALIDATION OF EIGEN'S REAL TIME FOUR DEGREE OF FREEDOM MECHANICAL TRACKER FOR 3-D TRANSRECTAL ULTRASOUND GUIDED PROSTATE BIOPSY

摘要

Prostate biopsy through ultrasound guidance is routinely used for prostate cancer diagnosis. Presently, physicians rely on conventional 2-D ultrasound images and biopsies are performed independent of information from the lateral view and precise information about the core location is unknown. In this paper, we present our initial investigation of a novel four degrees of freedom (DoF) mechanical tracker to direct 3-D TRUS guided prostate biopsies. This mechanical tracker with software interfaces with existing 2-D ultrasound systems and provides enhanced 3-D information to urologists for needle guidance and precise targeting. The accuracy of needle navigation by the system to the selected biopsy locations has been demonstrated and validated by prostate phantom experiments. Our validation protocol procedure involved two clinical phantoms each with sextant systematic biopsies. The mean error between the planned 3-D location and target location in CT space was 2.66mm with standard deviation of 0.76mm. The mean error between the planned 3-D location and segmented target location in ultrasound space was 3.23mm with standard deviation of 0.30mm.