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Robotically controlled three-dimensional micro-ultrasound for prostate biopsy guidance

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International Journal of Computer Assisted Radiology and Surgery Aims and scope Submit manuscript

Abstract

Purpose

Prostate imaging to guide biopsy remains unsatisfactory, with current solutions suffering from high complexity and poor accuracy and reliability. One novel entrant into this field is micro-ultrasound (microUS), which uses a high-frequency imaging probe to achieve very high spatial resolution, and achieves prostate cancer detection rates equivalent to multiparametric magnetic resonance imaging (mpMRI). However, the ExactVu transrectal microUS probe has a unique geometry that makes it challenging to acquire controlled, repeatable three-dimensional (3D) transrectal ultrasound (TRUS) volumes. We describe the design, fabrication, and validation of a 3D acquisition system that allows for the accurate use of the ExactVu microUS device for volumetric prostate imaging.

Methods

The design uses a motorized, computer-controlled brachytherapy stepper to rotate the ExactVu transducer about its axis. We perform geometric validation using a phantom with known dimensions and compare performance with magnetic resonance imaging (MRI) using a commercial quality assurance anthropomorphic prostate phantom.

Results

Our geometric validation shows accuracy of 1 mm or less in all three directions, and images of an anthropomorphic phantom qualitatively match those acquired using MRI and show good agreement quantitatively.

Conclusion

We describe the first system to acquire robotically controlled 3D microUS images using the ExactVu microUS system. The reconstructed 3D microUS images are accurate, which will allow for future applications of the ExactVu microUS system in prostate specimen and in vivo imaging.

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Acknowledgements

This work was funded with a Natural Sciences and Engineering Research Council Canada Graduate Scholarship—Doctoral and the C.A. Laszlo Chair held by Professor Salcudean.

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Authors and Affiliations

  1. School of Biomedical Engineering, The University of British Columbia, 251-2222 Health Sciences Mall, Vancouver, BC, V6T 1Z3, Canada

    Reid Vassallo, Tajwar Abrar Aleef & Septimiu E. Salcudean

  2. Department of Electrical and Computer Engineering, The University of British Columbia, 5500-2332 Main Mall, Vancouver, BC, V6T 1Z4, Canada

    Qi Zeng & Septimiu E. Salcudean

  3. Exact Imaging, 15-7676 Woodbine Avenue, Markham, ON, L3R 2N2, Canada

    Brian Wodlinger

  4. Department of Urologic Sciences, The University of British Columbia, 2775 Laurel Street, Vancouver, BC, V5Z 1M9, Canada

    Peter C. Black

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  1. Reid Vassallo
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  2. Tajwar Abrar Aleef
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  6. Septimiu E. Salcudean
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Correspondence to Reid Vassallo.

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All authors declare that they have no competing interests. Brian Wodlinger is employed by Exact Imaging.

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Vassallo, R., Aleef, T.A., Zeng, Q. et al. Robotically controlled three-dimensional micro-ultrasound for prostate biopsy guidance. Int J CARS 18, 1093–1099 (2023). https://doi.org/10.1007/s11548-023-02869-3

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  • DOI: https://doi.org/10.1007/s11548-023-02869-3

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