ArticlePhysics in medicine and biology2018
Evaluation of robot-assisted MRI-guided prostate biopsy: needle path analysis during clinical trials.
Article in Physics in medicine and biology, 2018. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 16 papers.
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Who cites it
16 citing papers in PubMed, 27 citations in OpenAlex.
- Clinical validation of a Novel Robotic Device for MR-Guided Prostate Biopsy: Initial Patient Experience.Journal of medical robotics research · 2026Article
- Machine learning model for fast prediction and uncertainty quantification of needle deflection during prostate biopsy.Medical physics · 2026Article
- Transperineal 3T MRI-guided and transrectal MRI-ultrasound fusion prostate biopsies: Do lesion location and size impact diagnostic yield?Urologic oncology · 2026Article
- Image-Guided Adaptive Cryotherapy for Prostate Cancer Treatment.Annals of biomedical engineering · 2025Article
- Analysis of Needle Placement Error During Prostate Biopsies in Real Clinical Cases: Effects of Needle Tip Orientation and Target Location.Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual International Conference · 2025Article
- Acoustic reflector-enabled forward-viewing ultrasound image-guided access.Journal of medical imaging (Bellingham, Wash.) · 2025Article
- In Vivo Feasibility Study: Evaluating Autonomous Data-Driven Robotic Needle Trajectory Correction in MRI-Guided Transperineal Procedures.IEEE robotics and automation letters · 2024Article
- Bevel-Tip Needle Deflection Modeling, Simulation, and Validation in Multi-Layer Tissues.IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation · 2024Article
- Data-driven adaptive needle insertion assist for transperineal prostate interventions.Physics in medicine and biology · 2023Article
- Motorized template for MRI-guided focal cryoablation of prostate cancer.IEEE transactions on medical robotics and bionics · 2023Article
- Automatic segmentation of prostate and extracapsular structures in MRI to predict needle deflection in percutaneous prostate intervention.International journal of computer assisted radiology and surgery · 2023Article
- MRI-compatible electromagnetic servomotor for image-guided medical robotics.Communications engineering · 2022Article
- The Impact of Placement Errors on the Tumor Coverage in MRI-Guided Focal Cryoablation of Prostate Cancer.Academic radiology · 2021Article
- In vivo evaluation of angulated needle-guide template for MRI-guided transperineal prostate biopsy.Medical physics · 2021Article
- Automatic needle tracking using Mask R-CNN for MRI-guided percutaneous interventions.International journal of computer assisted radiology and surgery · 2020Article
- Open Source Platform for Transperineal In-Bore MRI-Guided Targeted Prostate Biopsy.IEEE transactions on bio-medical engineering · 2020Article
Corrections and comments
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Authors and funding
12 authors at 4 institutions in 1 country.
Funding
Abstract
While the interaction between a needle and the surrounding tissue is known to cause a significant targeting error in prostate biopsy leading to false-negative results, few studies have demonstrated how it impacts in the actual procedure. We performed a pilot study on robot-assisted MRI-guided prostate biopsy with an emphasis on the in-depth analysis of the needle-tissue interaction in vivo. The data were acquired during in-bore transperineal prostate biopsies in patients using a 4 degrees-of-freedom (DoF) MRI-compatible robot. The anatomical structures in the pelvic area and the needle path were reconstructed from MR images, and quantitatively analyzed. We analyzed each structure individually and also proposed a mathematical model to investigate the influence of those structures in the targeting error using the mixed-model regression. The median targeting error in 188 insertions (27 patients) was 6.3 mm. Both the individual anatomical structure analysis and the mixed-model analysis showed that the deviation resulted from the contact between the needle and the skin as the main source of error. On contrary, needle bending inside the tissue (expressed as needle curvature) did not vary among insertions with targeting errors above and below the average. The analysis indicated that insertions crossing the bulbospongiosus presented a targeting error lower than the average. The mixed-model analysis demonstrated that the distance between the needle guide and the patient skin, the deviation at the entry point, and the path length inside the pelvic diaphragm had a statistically significant contribution to the targeting error (p < 0.05). Our results indicate that the errors associated with the elastic contact between the needle and the skin were more prominent than the needle bending along the insertion. Our findings will help to improve the preoperative planning of transperineal prostate biopsies.
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Registered trials
Read under generation 80e0d062 · epoch 390. Bibliography from PubMed, PubMed Central and OpenAlex; grants from NIH RePORTER; trial links from ClinicalTrials.gov; estimates, votes and beliefs from the OpenQuestion graph.