A robotic system for intra-operative trans-rectal ultrasound and ultrasound elastography in radical prostatectomy

Authors:
Troy Adebar;Septimiu Salcudean;Sara Mahdavi;Mehdi Moradi;Christopher Nguan;Larry Goldenberg
Affiliations:
University of British Columbia, Vancouver BC, Canada;University of British Columbia, Vancouver BC, Canada;University of British Columbia, Vancouver BC, Canada;University of British Columbia, Vancouver BC, Canada;Vancouver General Hospital, Vancouver BC, Canada;Vancouver General Hospital, Vancouver BC, Canada
Venue:
IPCAI'11 Proceedings of the Second international conference on Information processing in computer-assisted interventions
Year:
2011

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Abstract

A new robotic system for trans-rectal ultrasound (TRUS) imaging during robot-assisted laparoscopic radical prostatectomy is described. The system consists of three main parts: a robotic probe manipulator (robot), an ultrasound machine with a biplane TRUS probe, and control and image processing software. A review of prior use of TRUS during prostatectomy is provided in order to demonstrate the potential benefits of such intra-operative imaging. The ability of the system to capture two-dimensional and three-dimensional B-mode and elastography data is demonstrated using a prostate phantom. A registration method that can be used for instrument tracking in RALRP is described and tested. Initial patient images captured using the system are presented.