title: Development and Phantom Validation of a 3-D-Ultrasound-Guided System for Targeting MRI-Visible Lesions During Transrectal Prostate Biopsy.
abstract: Three- and four-dimensional transrectal ultrasound transducers are now available from most major ultrasound equipment manufacturers, but currently are incorporated into only one commercial prostate biopsy guidance system. Such transducers offer the benefits of rapid volumetric imaging, but can cause substantial measurement distortion in electromagnetic tracking sensors, which are commonly used to enable 3-D navigation. In this paper, we describe the design, development, and validation of a 3-D-ultrasound-guided transrectal prostate biopsy system that employs high-accuracy optical tracking to localize the ultrasound probe and prostate targets in 3-D physical space.
  
  
  
  The accuracy of the system was validated by evaluating the targeted needle placement error after inserting a biopsy needle to sample planned targets in a phantom using standard 2-D ultrasound guidance versus real-time 3-D guidance provided by the new system.
  
  
  
  The overall mean needle-segment-to-target distance error was 3.6 ± 4.0 mm and mean needle-to-target distance was 3.2 ± 2.4 mm.
  
  
  
  A significant increase in needle placement accuracy was observed when using the 3-D guidance system compared with visual targeting of invisible (virtual) lesions using a standard B-mode ultrasound-guided biopsy technique.
authors.forename: Yipeng
authors.initials: Y
authors.lastname: Hu
authors.forename: Veeru
authors.initials: V
authors.lastname: Kasivisvanathan
authors.forename: Lucy A M
authors.initials: LA
authors.lastname: Simmons
authors.forename: Matthew J
authors.initials: MJ
authors.lastname: Clarkson
authors.forename: Stephen A
authors.initials: SA
authors.lastname: Thompson
authors.forename: Taimur T
authors.initials: TT
authors.lastname: Shah
authors.forename: Hashim U
authors.initials: HU
authors.lastname: Ahmed
authors.forename: Shonit
authors.initials: S
authors.lastname: Punwani
authors.forename: David J
authors.initials: DJ
authors.lastname: Hawkes
authors.forename: Mark
authors.initials: M
authors.lastname: Emberton
authors.forename: Caroline M
authors.initials: CM
authors.lastname: Moore
authors.forename: Dean C
authors.initials: DC
authors.lastname: Barratt
mesh_terms: D061765:Endoscopic Ultrasound-Guided Fine Needle Aspiration / Q000295:instrumentation* / Q000379:methods; D019160:Endosonography / Q000295:instrumentation* / Q000379:methods; D004867:Equipment Design; D019544:Equipment Failure Analysis; D006801:Humans; D007089:Image Enhancement / Q000295:instrumentation* / Q000379:methods; D053783:Magnetic Resonance Imaging, Interventional / Q000295:instrumentation* / Q000379:methods; D008297:Male; D019047:Phantoms, Imaging; D011471:Prostatic Neoplasms / Q000000981:diagnostic imaging* / Q000473:pathology*; D015203:Reproducibility of Results; D012680:Sensitivity and Specificity