skip to main content

Explore Research Products in the NSF-PAR

Title: Preliminary Evaluation of Robotic Transrectal Biopsy System on an Interventional Planning Software
Prostate biopsy is considered as a definitive way for diagnosing prostate malignancies. Urologists are currently moving towards MR-guided prostate biopsies over conventional transrectal ultrasound-guided biopsies for prostate cancer detection. Recently, robotic systems have started to emerge as an assistance tool for urologists to perform MR-guided prostate biopsies. However, these robotic assistance systems are designed for a specific clinical environment and cannot be adapted to modifications or changes applied to the clinical setting and/or workflow. This work presents the preliminary design of a cable-driven manipulator developed to be used in both MR scanners and MR-ultrasound fusion systems. The proposed manipulator design and functionality are evaluated on a simulated virtual environment. The simulation is created on an in-house developed interventional planning software to evaluate the ergonomics and usability. The results show that urologists can benefit from the proposed design of the manipulator and planning software to accurately perform biopsies of targeted areas in the prostate.  more » « less
Award ID(s):
1646566
NSF-PAR ID:
10130861
Author(s) / Creator(s):
; ; ; ; ; ; ; ; ; ; ; ;
Date Published:
Journal Name:
2019 IEEE 19th International Conference on Bioinformatics and Bioengineering (BIBE)
Page Range / eLocation ID:
357 to 362
Format(s):
Medium: X
Sponsoring Org:
National Science Foundation
More Like this
  1. ; ; ; ; ; ; ; ; ; ; et al ( , The International Journal of Medical Robotics and Computer Assisted Surgery)
    Abstract Background

    This study presents user evaluation studies to assess the effect of information rendered by an interventional planning software on the operator's ability to plan transrectal magnetic resonance (MR)‐guided prostate biopsies using actuated robotic manipulators.

     Methods

    An intervention planning software was developed based on the clinical workflow followed for MR‐guided transrectal prostate biopsies. The software was designed to interface with a generic virtual manipulator and simulate an intervention environment using 2D and 3D scenes. User studies were conducted with urologists using the developed software to plan virtual biopsies.

     Results

    User studies demonstrated that urologists with prior experience in using 3D software completed the planning less time. 3D scenes were required to control all degrees‐of‐freedom of the manipulator, while 2D scenes were sufficient for planar motion of the manipulator.

     Conclusions

    The study provides insights on using 2D versus 3D environment from a urologist's perspective for different operational modes of MR‐guided prostate biopsy systems.

     
    more » « less
  2. ; ; ; ; ; ; ; ; ; ; et al ( , IEEE 20th International Conference on Bioinformatics and Bioengineering (BIBE))
    null (Ed.)
    This work presents an interventional planning software to be used in conjunction with a robotic manipulator to perform transrectal MR guided prostate biopsies. The interventional software was designed taking in consideration a generic manipulator used under the two modes of operation: side-firing and end-firing of the biopsy needle. Studies were conducted with urologists using the software to plan virtual biopsies. The results show features of software relevant for operating efficiently under the two modes of operation. 
    more » « less
  3. ( , Eurographics Workshop on Visual Computing for Biomedicine)
    Puig Puig, Anna and (Ed.)
    Motivated by the potential of holographic augmented reality (AR) to offer an immersive 3D appreciation of morphology and anatomy, the purpose of this work is to develop and assess an interface for image-based planning of prostate interventions with a head-mounted display (HMD). The computational system is a data and command pipeline that links a magnetic resonance imaging (MRI) scanner/data and the operator, that includes modules dedicated to image processing and segmentation, structure rendering, trajectory planning and spatial co-registration. The interface was developed with the Unity3D Engine (C#) and deployed and tested on a HoloLens HMD. For ergonomics in the surgical suite, the system was endowed with hands-free interactive manipulation of images and the holographic scene via hand gestures and voice commands. The system was tested in silico using MRI and ultrasound datasets of prostate phantoms. The holographic AR scene rendered by the HoloLens HMD was subjectively found superior to desktop-based volume or 3D rendering with regard to structure detection and appreciation of spatial relationships, planning access paths and manual co-registration of MRI and Ultrasound. By inspecting the virtual trajectory superimposed to rendered structures and MR images, the operator observes collisions of the needle path with vital structures (e.g. urethra) and adjusts accordingly. Holographic AR interfacing with wireless HMD endowed with hands-free gesture and voice control is a promising technology. Studies need to systematically assess the clinical merit of such systems and needed functionalities. 
    more » « less
  4. ; ; ( , Proceedings of the IEEERSJ International Conference on Intelligent Robots and Systems)
    Goal-based navigation in public places is critical for independent mobility and for breaking barriers that exist for blind or visually impaired (BVI) people in a sight-centric society. Through this work we present a proof-of-concept system that autonomously leverages goal-based navigation assistance and perception to identify socially preferred seats and safely guide its user towards them in unknown indoor environments. The robotic system includes a camera, an IMU, vibrational motors, and a white cane, powered via a backpack-mounted laptop. The system combines techniques from computer vision, robotics, and motion planning with insights from psychology to perform 1) SLAM and object localization, 2) goal disambiguation and scoring, and 3) path planning and guidance. We introduce a novel 2-motor haptic feedback system on the cane’s grip for navigation assistance. Through a pilot user study we show that the system is successful in classifying and providing haptic navigation guidance to socially preferred seats, while optimizing for users’ convenience, privacy, and intimacy in addition to increasing their confidence in independent navigation. The implications are encouraging as this technology, with careful design guided by the BVI community, can be adopted and further developed to be used with medical devices enabling the BVI population to better independently engage in socially dynamic situations like seat choice. 
    more » « less
  5. ; ; ; ; ; ; ; ; ; ; et al ( , Cancer Research)
    Abstract <p>Prostate cancer treatment planning is largely dependent upon examination of core-needle biopsies. The microscopic architecture of the prostate glands forms the basis for prognostic grading by pathologists. Interpretation of these convoluted three-dimensional (3D) glandular structures via visual inspection of a limited number of two-dimensional (2D) histology sections is often unreliable, which contributes to the under- and overtreatment of patients. To improve risk assessment and treatment decisions, we have developed a workflow for nondestructive 3D pathology and computational analysis of whole prostate biopsies labeled with a rapid and inexpensive fluorescent analogue of standard hematoxylin and eosin (H&E) staining. This analysis is based on interpretable glandular features and is facilitated by the development of image translation–assisted segmentation in 3D (ITAS3D). ITAS3D is a generalizable deep learning–based strategy that enables tissue microstructures to be volumetrically segmented in an annotation-free and objective (biomarker-based) manner without requiring immunolabeling. As a preliminary demonstration of the translational value of a computational 3D versus a computational 2D pathology approach, we imaged 300 ex vivo biopsies extracted from 50 archived radical prostatectomy specimens, of which, 118 biopsies contained cancer. The 3D glandular features in cancer biopsies were superior to corresponding 2D features for risk stratification of patients with low- to intermediate-risk prostate cancer based on their clinical biochemical recurrence outcomes. The results of this study support the use of computational 3D pathology for guiding the clinical management of prostate cancer.</p></sec> <sec><title>Significance:

    An end-to-end pipeline for deep learning–assisted computational 3D histology analysis of whole prostate biopsies shows that nondestructive 3D pathology has the potential to enable superior prognostic stratification of patients with prostate cancer.

     
    more » « less
  • Citation Formats
  • MLA
  • APA
  • Chicago
  • BibTeX
  • Save / Share this Record
  • Send to Email