System for robotically assisted prostate biopsy and therapy with intraoperative CT guidance

Gabor Fichtinger, Theodore L. DeWeese, Alexandru Patriciu, Attila Tanacs, Dumitru Mazilu, James H. Anderson, Ken Masamune, Russell H. Taylor, Dan Stoianovici

Research output: Contribution to journalArticlepeer-review


Rationale and Objectives. The purpose of this study was to assess the work-in-progress prototype of an image-guided, robotic system for accurate and consistent placement of transperineal needles into the prostate with intraoperative image guidance inside the gantry of a computed tomographic (CT) scanner. Materials and Methods. The coach-mounted system consists of a seven-degrees-of-freedom, passive mounting arm; a remote-center-of-motion robot; and a motorized, radiolucent needle-insertion device to deliver 17-18-gauge implant and biopsy needles into the prostate with the transperineal route. The robot is registered to the image space with a stereotactic adapter. The surgeon plans and controls the intervention in the CT scanner room with a desktop computer that receives DICOM images from the CT scanner. The complete system fits in a carry-on suitcase, does not need calibration, and does not utilize vendor-specific features of the CT scanner. Results. In open air, the average accuracy was better than 1 mm at a 5-8-cm depth. In various phantoms, the average orientation error was 1.3°, and the average distance between the needle tip and the target was 2 mm. Conclusion. Results of preliminary experiments indicate that this robotic system may be suitable for transperineal needle placement into the prostate and shows potential in a variety of other percutaneous clinical applications.

Original languageEnglish (US)
Pages (from-to)60-74
Number of pages15
JournalAcademic radiology
Issue number1
StatePublished - 2002


  • Biopsy
  • Computed tomographic (CT) guidance
  • Image-guided surgery
  • Prostate cancer
  • Surgical robotics
  • Transperineal needle placement

ASJC Scopus subject areas

  • Radiology Nuclear Medicine and imaging


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