title: Prostate biopsies assisted by comanipulated probe-holder: first in man.
abstract: OBJECTIVE
  A comanipulator for assisting endorectal prostate biopsies is evaluated through a first-in-man clinical trial. This lightweight system, based on conventional robotic components, possesses six degrees of freedom. It uses three electric motors and three brakes. It features a free mode, where its low friction and inertia allow for natural manipulation of the probe and a locked mode, exhibiting both a very low stiffness and a high steady-state precision.
  
  
  METHODS
  Clinical trials focusing on the free mode and the locked mode of the robot are presented. The objective was to evaluate the practical usability and performance of the robot during clinical procedures. A research protocol for a prospective randomized clinical trial has been designed. Its specific goal was to compare the accuracy of biopsies performed with and without the assistance of the comanipulator.
  
  
  RESULTS
  The accuracy is compared between biopsies performed with and without the assistance of the comanipulator, across the 10 first patients included in the trial. Results show a statistically significant increase in the precision.
authors.affiliation: UMR 7222, ISIR, Sorbonne Universités UPMC Univ. Paris 06, Paris, France. marie-aude.vitrani@upmc.fr.|INSERM, U1150, Agathe-ISIR, 75005, Paris, France. marie-aude.vitrani@upmc.fr.|UMR 7222, ISIR, CNRS, 75005, Paris, France. marie-aude.vitrani@upmc.fr.
authors.forename: Marie-Aude
authors.initials: MA
authors.lastname: Vitrani
authors.affiliation: Koelis Inc., Grenoble, France.
authors.forename: Michael
authors.initials: M
authors.lastname: Baumann
authors.affiliation: UMR 7222, ISIR, Sorbonne Universités UPMC Univ. Paris 06, Paris, France.|INSERM, U1150, Agathe-ISIR, 75005, Paris, France.|UMR 7222, ISIR, CNRS, 75005, Paris, France.
authors.forename: David
authors.initials: D
authors.lastname: Reversat
authors.affiliation: UMR 7222, ISIR, Sorbonne Universités UPMC Univ. Paris 06, Paris, France.|INSERM, U1150, Agathe-ISIR, 75005, Paris, France.|UMR 7222, ISIR, CNRS, 75005, Paris, France.
authors.forename: Guillaume
authors.initials: G
authors.lastname: Morel
authors.affiliation: Laboratory of Techniques for Biomedical Engineering and Complexity Management Informatics, Mathematics and Applications, University Grenoble Alpes, Grenoble, France.|Laboratory of Techniques for biomedical engineering and complexity management informatics, mathematics and applications, National Center for Scientific Research, Grenoble, France.|Investigation Clinical Center 1406, National Institute of Health and Medical Research, Grenoble, France.|Department of Public Health, Technological Innovation - Investigation Clinical Center, University Hospital, Grenoble, France.
authors.forename: Alexandre
authors.initials: A
authors.lastname: Moreau-Gaudry
authors.affiliation: UMR 7222, ISIR, Sorbonne Universités UPMC Univ. Paris 06, Paris, France.|INSERM, U1150, Agathe-ISIR, 75005, Paris, France.|UMR 7222, ISIR, CNRS, 75005, Paris, France.|Urology Department, APHP Pitié Salpêtrière Hospital, Paris, France.
authors.forename: Pierre
authors.initials: P
authors.lastname: Mozer
mesh_terms: D000368:Aged; D001706:Biopsy; D001707:Biopsy, Needle / Q000379:methods*; D019160:Endosonography; D006801:Humans; D061705:Image-Guided Biopsy / Q000379:methods*; D008279:Magnetic Resonance Imaging; D008297:Male; D008866:Microsurgery; D008875:Middle Aged; D011446:Prospective Studies; D011467:Prostate / Q000000981:diagnostic imaging / Q000473:pathology*; D011471:Prostatic Neoplasms / Q000000981:diagnostic imaging / Q000473:pathology*; D065287:Robotic Surgical Procedures / Q000379:methods*
keywords: Comanipulation; First in man; Prostate biopsy; Robotics