Abstract: A robot-assisted approach for transrectal ultrasound (TRUS) guided prostate biopsy includes a hands-free probe manipulator that moves the probe with the same 4 degrees-of-freedom (DoF) that are used manually. Transrectal prostate biopsy is taken one step further, with an actuated TRUS manipulation arm. The robot of the present invention enables the performance of hands-free, skill-independent prostate biopsy. Methods to minimize the deformation of the prostate caused by the probe at 3D imaging and needle targeting are included to reduce biopsy targeting errors. The present invention also includes a prostate coordinate system (PCS). The PCS helps defining a systematic biopsy plan without the need for prostate segmentation. A novel method to define an SB plan is included for 3D imaging, biopsy planning, robot control, and navigation.

Abstract: The present invention is directed to a method for calculating tumor detection probability of a biopsy plan and for generating a 3D biopsy plan that maximizes tumor detection probability. A capsule shaped volume is modeled to represent the volume that a biopsy core may sample. An optimization method is used to generate a 3D biopsy plan that maximizes probability of tumor detection for predefined biopsy core numbers and length. Risk of detecting insignificant tumors, also determined by size, and probability of a false negative result is automatically calculated. The present invention also includes a method to determine number and length of biopsy cores required for individual patients determined by the balance of the insignificant/significant probability of detection, prostate size and shape, based upon the previously explained 3D biopsy plan generation method.

Abstract: An embodiment in accordance with the present invention provides a new biopsy needle that may address several problems identified with currently available biopsy needles. In short, the new needle has a straighter insertion path, no forward fire, lower noise, and is pneumatic power-assisted so that it can be operated with one hand. These features improve biopsy targeting, provide safer operation for the patient and personnel, reduce patient discomfort, and respectively make optional the help of an assistant at biopsy.

Abstract: The present invention is directed to a method for calculating tumor detection probability of a biopsy plan and for generating a 3D biopsy plan that maximizes tumor detection probability. A capsule shaped volume is modeled to represent the volume that a biopsy core may sample. An optimization method is used to generate a 3D biopsy plan that maximizes probability of tumor detection for predefined biopsy core numbers and length. Risk of detecting insignificant tumors, also determined by size, and probability of a false negative result is automatically calculated. The present invention also includes a method to determine number and length of biopsy cores required for individual patients determined by the balance of the insignificant/significant probability of detection, prostate size and shape, based upon the previously explained 3D biopsy plan generation method.

Abstract: An embodiment in accordance with the present invention provides a device and method for a transrectal ultrasound (TRUS) guided prostate biopsy. The device includes an ultrasound wand equipped with a lateral fire ultrasound sensor. The ultrasound wand also defines a channel having an oblique path though the wand. The channel accommodates a biopsy needle, which can be pivoted as well inserted through the channel to different depths in order to perform a biopsy of the prostate. The device therefore uses only three degrees-of-freedom of movement in order to obtain the biopsy samples. Additionally, the ultrasound wand can be used to generate a three-dimensional image of the prostate.

Abstract: The present invention is directed to a method for calculating tumor detection probability of a biopsy plan and for generating a 3D biopsy plan that maximizes tumor detection probability. A capsule shaped volume is modeled to represent the volume that a biopsy core may sample. An optimization method is used to generate a 3D biopsy plan that maximizes probability of tumor detection for predefined biopsy core numbers and length. Risk of detecting insignificant tumors, also determined by size, and probability of a false negative result is automatically calculated. The present invention also includes a method to determine number and length of biopsy cores required for individual patients determined by the balance of the insignificant/significant probability of detection, prostate size and shape, based upon the previously explained 3D biopsy plan generation method.

Abstract: An embodiment in accordance with the present invention provides a device and method for a transrectal ultrasound (TRUS) guided prostate biopsy. The device includes an ultrasound wand equipped with a lateral fire ultrasound sensor. The ultrasound wand also defines a channel having an oblique path though the wand. The channel accommodates a biopsy needle, which can be pivoted as well inserted through the channel to different depths in order to perform a biopsy of the prostate. The device therefore uses only three degrees-of-freedom of movement in order to obtain the biopsy samples. Additionally, the ultrasound wand can be used to generate a three-dimensional image of the prostate.

Abstract: The present invention pertains to a remote center of motion robot for medical image scanning and image-guided targeting, hereinafter referred to as the “Euler” robot. The Euler robot allows for ultrasound scanning for 3-Dimensional (3-D) image reconstruction and enables a variety of robot-assisted image-guided procedures, such as needle biopsy, percutaneous therapy delivery, image-guided navigation, and facilitates image-fusion with other imaging modalities. The Euler robot can also be used with other handheld medical imaging probes, such as gamma cameras for nuclear imaging, or for targeted delivery of therapy such as high-intensity focused ultrasound (HIFU). 3-D ultrasound probes may also be used with the Euler robot to provide automated image-based targeting for biopsy or therapy delivery. In addition, the Euler robot enables the application of special motion-based imaging modalities, such as ultrasound elastography.