title: Evaluation of a robotic technique for transrectal MRI-guided prostate biopsies.
abstract: OBJECTIVE
  To evaluate the accuracy and speed of a novel robotic technique as an aid to perform magnetic resonance image (MRI)-guided prostate biopsies on patients with cancer suspicious regions.
  
  
  METHODS
  A pneumatic controlled MR-compatible manipulator with 5 degrees of freedom was developed in-house to guide biopsies under real-time imaging. From 13 consecutive biopsy procedures, the targeting error, biopsy error and target displacement were calculated to evaluate the accuracy. The time was recorded to evaluate manipulation and procedure time.
  
  
  RESULTS
  The robotic and manual techniques demonstrated comparable results regarding mean targeting error (5.7 vs 5.8 mm, respectively) and mean target displacement (6.6 vs 6.0 mm, respectively). The mean biopsy error was larger (6.5 vs 4.4 mm) when using the robotic technique, although not significant. Mean procedure and manipulation time were 76 min and 6 min, respectively using the robotic technique and 61 and 8 min with the manual technique.
  
  
  CONCLUSIONS
  Although comparable results regarding accuracy and speed were found, the extended technical effort of the robotic technique make the manual technique - currently - more suitable to perform MRI-guided biopsies. Furthermore, this study provided a better insight in displacement of the target during in vivo biopsy procedures.
authors.affiliation: Department of Radiology, Radboud University Nijmegen Medical Centre, Nijmegen, Netherlands. m.schouten@rad.umcn.nl
authors.forename: Martijn G
authors.initials: MG
authors.lastname: Schouten
authors.forename: Joyce G R
authors.initials: JG
authors.lastname: Bomers
authors.forename: Derya
authors.initials: D
authors.lastname: Yakar
authors.forename: Henkjan
authors.initials: H
authors.lastname: Huisman
authors.forename: Eva
authors.initials: E
authors.lastname: Rothgang
authors.forename: Dennis
authors.initials: D
authors.lastname: Bosboom
authors.forename: Tom W J
authors.initials: TW
authors.lastname: Scheenen
authors.forename: Sarthak
authors.initials: S
authors.lastname: Misra
authors.forename: Jurgen J
authors.initials: JJ
authors.lastname: Fütterer
mesh_terms: D001706:Biopsy / Q000379:methods; D001707:Biopsy, Needle / Q000379:methods*; D038524:Diffusion Magnetic Resonance Imaging / Q000379:methods; D004867:Equipment Design; D006801:Humans; D007091:Image Processing, Computer-Assisted; D008279:Magnetic Resonance Imaging / Q000379:methods*; D008297:Male; D011467:Prostate / Q000601:surgery; D017430:Prostate-Specific Antigen / Q000096:biosynthesis; D011471:Prostatic Neoplasms / Q000601:surgery*; D015203:Reproducibility of Results; D012371:Robotics; D025321:Surgery, Computer-Assisted / Q000379:methods; D013520:Urologic Surgical Procedures / Q000379:methods
chemical_list: D017430:Prostate-Specific Antigen