title: Mechatronic system for in-bore MRI-guided insertion of needles to the prostate: An in vivo needle guidance accuracy study.
abstract: BACKGROUND
  To present our experiences in initial clinical evaluation of a novel mechatronic system for in-bore guidance of needles to the prostate for MRI-guided prostate interventions in 10 patients. We report accuracy of this device in the context of focal laser ablation therapy for localized prostate cancer.
  
  
  METHODS
  An MRI-compatible needle guidance device was developed for transperineal prostate interventions. Ten patients underwent MRI-guided focal laser ablation therapy with device-mediated laser fiber delivery. We recorded needle guidance error and needle delivery time.
  
  
  RESULTS
  A total of 37 needle insertions were evaluated. Median needle guidance error was 3.5 mm (interquartile range, 2.1-5.4 mm), and median needle delivery time was 9 min (interquartile range, 6.5-12 min).
  
  
  CONCLUSIONS
  This system provides a reliable method of accurately aligning needle guides for in-bore transperineal needle delivery to the prostate.
authors.affiliation: Department of Surgical Oncology, Division of Urology, University Health Network, Toronto, Canada.|Robarts Research Institute, The University of Western Ontario, London, Canada.
authors.forename: Jeremy
authors.initials: J
authors.lastname: Cepek
authors.affiliation: Department of Surgical Oncology, Division of Urology, University Health Network, Toronto, Canada.
authors.forename: Uri
authors.initials: U
authors.lastname: Lindner
authors.affiliation: Joint Department of Medical Imaging, University Health Network, Toronto, Canada.
authors.forename: Sangeet
authors.initials: S
authors.lastname: Ghai
authors.affiliation: Department of Surgical Oncology, Division of Urology, University Health Network, Toronto, Canada.
authors.forename: Alyssa S
authors.initials: AS
authors.lastname: Louis
authors.affiliation: Ontario Cancer Institute, University Health Network, Toronto, Canada.
authors.forename: Sean R H
authors.initials: SR
authors.lastname: Davidson
authors.affiliation: Division of Biophysics and Bioimaging, Ontario Cancer Institute, University Health Network, Toronto, Canada.
authors.forename: Mark
authors.initials: M
authors.lastname: Gertner
authors.affiliation: Joint Department of Medical Imaging, University Health Network, Toronto, Canada.
authors.forename: Eugen
authors.initials: E
authors.lastname: Hlasny
authors.affiliation: Joint Department of Medical Imaging, University Health Network, Toronto, Canada.
authors.forename: Marshall S
authors.initials: MS
authors.lastname: Sussman
authors.affiliation: Robarts Research Institute, The University of Western Ontario, London, Canada.|Biomedical Engineering, The University of Western Ontario, London, Canada.
authors.forename: Aaron
authors.initials: A
authors.lastname: Fenster
authors.affiliation: Department of Surgical Oncology, Division of Urology, University Health Network, Toronto, Canada.
authors.forename: John
authors.initials: J
authors.lastname: Trachtenberg
mesh_terms: D000368:Aged; D017115:Catheter Ablation / Q000295:instrumentation*; D004867:Equipment Design; D019544:Equipment Failure Analysis; D006801:Humans; D053783:Magnetic Resonance Imaging, Interventional / Q000295:instrumentation*; D008297:Male; D055617:Micro-Electrical-Mechanical Systems / Q000295:instrumentation*; D008875:Middle Aged; D009339:Needles; D011471:Prostatic Neoplasms / Q000473:pathology* / Q000601:surgery*; D015203:Reproducibility of Results; D012680:Sensitivity and Specificity; D025321:Surgery, Computer-Assisted / Q000295:instrumentation
keywords: focal laser ablation therapy; focal therapy; needle guidance; prostate cancer; targeted biopsy