Prostate biopsies guided by three-dimensional real-time (4-D) transrectal ultrasonography on a phantom: comparative study versus two-dimensional transrectal ultrasound-guided biopsies

Application of Multiple Ultrasonic Techniques in the Diagnosis of Prostate Cancer

Methods for diagnosing prostate cancer (PCa) are developing in the direction of imaging. Advanced ultrasound examination modes include micro-Doppler, computerized-transrectal ultrasound, elastography, contrast-enhanced ultrasound and microultrasound. When two or more of these modes are used in PCa diagnosis, the combined technique is called multiparameter ultrasound (mp-US). Mp-US provides complementary information to multiparameter magnetic resonance imaging (mp-MRI) for diagnosing PCa. At present, no study has attempted to combine the characteristics of different ultrasound modes with advanced classification systems similar to the PIRADS system in mpMRI for the diagnosis of PCa. As an imaging method, mp-US has great potential in the diagnosis of PCa.

Transrectal Ultrasound in Prostate Cancer: Current Utilization, Integration with mpMRI, HIFU and Other Emerging Applications

Transrectal ultrasound (TRUS) has been an invaluable tool in the assessment of prostate size, anatomy and aiding in prostate cancer (PCa) diagnosis for decades. Emerging techniques warrant an investigation into the efficacy of TRUS, how it compares to new techniques, and options to increase the accuracy of prostate cancer diagnosis. Currently, TRUS is used to guide both transrectal and transperineal biopsy approaches with similar cancer detection rates, but lower rates of infection have been reported with the transperineal approach, while lower rates of urinary retention are often reported with the transrectal approach. Multiparametric MRI has substantial benefits for prostate cancer diagnosis and triage such as lesion location, grading, and can be combined with TRUS to perform fusion biopsies targeting specific lesions. Micro-ultrasound generates higher resolution images that traditional ultrasound and has been shown effective at diagnosing PCa, giving it the potential to become a future standard of care. Finally, high-intensity focused ultrasound focal therapy administered via TRUS has been shown to offer safe and effective short-term oncological control for localized disease with low morbidity, and the precise nature makes it a viable option for salvage and repeat therapy.

An anthropomorphic pelvis phantom for MR-guided prostate interventions

PURPOSE

To design and manufacture a pelvis phantom for magnetic resonance (MR)-guided prostate interventions, such as MRGB (MR-guided biopsy) or brachytherapy seed placement.

METHODS

The phantom was designed to mimic the human pelvis incorporating bones, bladder, prostate with four lesions, urethra, arteries, veins, and six lymph nodes embedded in ballistic gelatin. A hollow rectum enables transrectal access to the prostate. To demonstrate the feasibility of the phantom for minimal invasive MRI-guided interventions, a targeted inbore MRGB was performed. The needle probe was rectally inserted and guided using an MRI-compatible remote controlled manipulator (RCM).

RESULTS

The presented pelvis phantom has realistic imaging properties for MR imaging (MRI), computed tomography (CT) and ultrasound (US). In the targeted inbore MRGB, a prostate lesion was successfully hit with an accuracy of 3.5 mm. The experiment demonstrates that the limited size of the rectum represents a realistic impairment for needle placements.

CONCLUSION

The phantom provides a valuable platform for evaluating the performance of MRGB systems. Interventionalists can use the phantom to learn how to deal with challenging situations, without risking harm to patients.

Attitude is everything: keep probe pitch neutral during side-fire prostate biopsy. A simulator study

OBJECTIVES

To develop and validate on a simulator a learnable technique to decrease deviation of biopsied cores from the template schema during freehand, side-fire systematic prostate biopsy (sPBx) with the goal of reducing prostate biopsy (PBx) false-negatives, thereby facilitating earlier sampling, diagnosis and treatment of clinically significant prostate cancer.

PARTICIPANTS AND METHODS

Using a PBx simulator with real-time three-dimensional visualization, we devised a freehand, pitch-neutral (0°, horizontal plane), side-fire, transrectal ultrasonography (TRUS)-guided sPBx technique in the left lateral decubitus position. Thirty-four trainees on four Canadian and US urology programmes learned the technique on the same simulator, which recorded deviation from the intended template location in a double-sextant template as well as the TRUS probe pitch at the time of sampling. We defined deviation as the shortest distance in millimeters between a core centre and its intended template location, template deviation as the mean of all deviations in a template, and mastery as achieving a template deviation ≤5.0 mm.

RESULTS

All results are reported as mean ± sd. The mean absolute pitch and template deviation before learning the technique (baseline) were 8.2 ± 4.1° and 8.0 ± 2.7 mm, respectively, and after mastering the technique decreased to 4.5 ± 2.7° (P = 0.001) and 4.5 ± 0.6 mm (P < 0.001). Template deviation was related to mean absolute pitch (P < 0.001) and increased by 0.5 mm on average with each 1° increase in mean absolute pitch. Participants achieved mastery after practising 3.9 ± 2.9 double-sextant sets. There was no difference in time to perform a double-sextant set at baseline (277 ± 102 s) and mastery (283 ± 101 s; P = 0.39).

CONCLUSION

A pitch-neutral side-fire technique reduced template deviation during simulated freehand TRUS-guided sPBx, suggesting it may also reduce PBx false-negatives in patients in a future clinical trial. This pitch-neutral technique can be taught and learned; the University of Florida has been teaching it to all Urology residents for the last 2 years.

Low-cost 3D print-based phantom fabrication to facilitate interstitial prostate brachytherapy training program

PURPOSE

The purpose of this study was to manufacture a realistic and inexpensive prostate phantom to support training programs for ultrasound-based interstitial prostate brachytherapy.

METHODS AND MATERIALS

Five phantom material combinations were tested and evaluated for material characteristics; Ecoflex 00-30 silicone, emulsion silicone with 20% or 50% mineral oil, and regular or supersoft polyvinyl chloride (PVC). A prostate phantom which includes an anatomic simulated prostate, urethra, seminal vesicles, rectum, and normal surrounding tissue was created with 3D-printed molds using 20% emulsion silicone and regular and supersoft PVC materials based on speed of sound testing. Needle artifact retention was evaluated at weekly intervals.

RESULTS

Speed of sound testing demonstrated PVC to have the closest ultrasound characteristics of the materials tested to that of soft tissue. Several molds were created with 3D-printed PLA directly or cast on 3D-printed PLA with high heat resistant silicone. The prostate phantom fabrication workflow was developed, including a method to produce dummy seeds for low-dose-rate brachytherapy practice. A complete phantom may be fabricated in 1.5-2 h, and the material cost for each phantom was approximated at $23.98.

CONCLUSIONS

A low-cost and reusable phantom was developed based on 3D-printed molds for casting. The proposed educational prostate phantom is an ideal cost-effective platform to develop and build confidence in fundamental brachytherapy procedural skills in addition to actual patient caseloads.

Three-dimensional nonrigid landmark-based magnetic resonance to transrectal ultrasound registration for image-guided prostate biopsy

Registration of three-dimensional (3-D) magnetic resonance (MR) to 3-D transrectal ultrasound (TRUS) prostate images is an important step in the planning and guidance of 3-D TRUS guided prostate biopsy. In order to accurately and efficiently perform the registration, a nonrigid landmark-based registration method is required to account for the different deformations of the prostate when using these two modalities. We describe a nonrigid landmark-based method for registration of 3-D TRUS to MR prostate images. The landmark-based registration method first makes use of an initial rigid registration of 3-D MR to 3-D TRUS images using six manually placed approximately corresponding landmarks in each image. Following manual initialization, the two prostate surfaces are segmented from 3-D MR and TRUS images and then nonrigidly registered using the following steps: (1) rotationally reslicing corresponding segmented prostate surfaces from both 3-D MR and TRUS images around a specified axis, (2) an approach to find point correspondences on the surfaces of the segmented surfaces, and (3) deformation of the surface of the prostate in the MR image to match the surface of the prostate in the 3-D TRUS image and the interior using a thin-plate spline algorithm. The registration accuracy was evaluated using 17 patient prostate MR and 3-D TRUS images by measuring the target registration error (TRE). Experimental results showed that the proposed method yielded an overall mean TRE of [Formula: see text] for the rigid registration and [Formula: see text] for the nonrigid registration, which is favorably comparable to a clinical requirement for an error of less than 2.5 mm. A landmark-based nonrigid 3-D MR-TRUS registration approach is proposed, which takes into account the correspondences on the prostate surface, inside the prostate, as well as the centroid of the prostate. Experimental results indicate that the proposed method yields clinically sufficient accuracy.

Three-Dimensional Nonrigid MR-TRUS Registration Using Dual Optimization

In this study, we proposed an efficient nonrigid magnetic resonance (MR) to transrectal ultrasound (TRUS) deformable registration method in order to improve the accuracy of targeting suspicious regions during a three dimensional (3-D) TRUS guided prostate biopsy. The proposed deformable registration approach employs the multi-channel modality independent neighborhood descriptor (MIND) as the local similarity feature across the two modalities of MR and TRUS, and a novel and efficient duality-based convex optimization-based algorithmic scheme was introduced to extract the deformations and align the two MIND descriptors. The registration accuracy was evaluated using 20 patient images by calculating the TRE using manually identified corresponding intrinsic fiducials in the whole gland and peripheral zone. Additional performance metrics [Dice similarity coefficient (DSC), mean absolute surface distance (MAD), and maximum absolute surface distance (MAXD)] were also calculated by comparing the MR and TRUS manually segmented prostate surfaces in the registered images. Experimental results showed that the proposed method yielded an overall median TRE of 1.76 mm. The results obtained in terms of DSC showed an average of 80.8±7.8% for the apex of the prostate, 92.0±3.4% for the mid-gland, 81.7±6.4% for the base and 85.7±4.7% for the whole gland. The surface distance calculations showed an overall average of 1.84±0.52 mm for MAD and 6.90±2.07 mm for MAXD.

Evaluation of MRI-TRUS fusion versus cognitive registration accuracy for MRI-targeted, TRUS-guided prostate biopsy

OBJECTIVE

The purpose of this article is to compare transrectal ultrasound (TRUS) biopsy accuracies of operators with different levels of prostate MRI experience using cognitive registration versus MRI-TRUS fusion to assess the preferred method of TRUS prostate biopsy for MRI-identified lesions. SUBJECTS AND METHODS; One hundred patients from a prospective prostate MRI-TRUS fusion biopsy study were reviewed to identify all patients with clinically significant prostate adenocarcinoma (PCA) detected on MRI-targeted biopsy. Twenty-five PCA tumors were incorporated into a validated TRUS prostate biopsy simulator. Three prostate biopsy experts, each with different levels of experience in prostate MRI and MRI-TRUS fusion biopsy, performed a total of 225 simulated targeted biopsies on the MRI lesions as well as regional biopsy targets. Simulated biopsies performed using cognitive registration with 2D TRUS and 3D TRUS were compared with biopsies performed under MRI-TRUS fusion.

RESULTS

Two-dimensional and 3D TRUS sampled only 48% and 45% of clinically significant PCA MRI lesions, respectively, compared with 100% with MRI-TRUS fusion. Lesion sampling accuracy did not statistically significantly vary according to operator experience or tumor volume. MRI-TRUS fusion-naïve operators showed consistent errors in targeting of the apex, midgland, and anterior targets, suggesting that there is biased error in cognitive registration. The MRI-TRUS fusion expert correctly targeted the prostate apex; however, his midgland and anterior mistargeting was similar to that of the less-experienced operators.

CONCLUSION

MRI-targeted TRUS-guided prostate biopsy using cognitive registration appears to be inferior to MRI-TRUS fusion, with fewer than 50% of clinically significant PCA lesions successfully sampled. No statistically significant difference in biopsy accuracy was seen according to operator experience with prostate MRI or MRI-TRUS fusion.

Real-time robotic transrectal ultrasound navigation during robotic radical prostatectomy: initial clinical experience

OBJECTIVE

To describe a novel robotic transrectal ultrasound platform for real-time navigation during robot-assisted laparoscopic radical prostatectomy (RALP) and to report its early clinical application.

METHODS

Five men undergoing RALPs at our Institution agreed to participate in this Institutional Review Board-approved pilot study. All of them were eligible for a bilateral nerve sparing procedure. Before docking the da Vinci robot, a transrectal ultrasound tri-plane side-fire probe was placed. A modified ViKY Endoscope Holder was used during RALPs to move the probe thanks to a remote control placed under the console surgeon's control during RALPs. During each procedure, attempt was made to estimate prostate volume, define 12 reference points, and to precisely identify location of the neurovascular bundles using Doppler ultrasound. The TilePro was used during the procedures to allow real-time ultrasound imaging to guide robotic instruments during dissection.

RESULTS

Median robotic transrectal ultrasound probe holder (R-TRUS) setup time was 11 minutes (interquartile range [IQR], 10-14). Prostate volume calculation, reference point definition, neurovascular bundle identification, and instrument tip visualization were successful in all men. In 1 patient with a large prostate (120 mL), R-TRUS was withdrawn during recto-prostatic dissection. There were no rectal injuries.

CONCLUSION

R-TRUS during RALPs is feasible and safe. It allows real-time TRUS navigation and guidance. Further studies are needed to evaluate its impact on oncological and functional outcomes.

Development of a novel robot for transperineal needle based interventions: focal therapy, brachytherapy and prostate biopsies

PURPOSE

We report what is to our knowledge the initial experience with a new 3-dimensional ultrasound robotic system for prostate brachytherapy assistance, focal therapy and prostate biopsies. Its ability to track prostate motion intraoperatively allows it to manage motions and guide needles to predefined targets.

MATERIALS AND METHODS

A robotic system was created for transrectal ultrasound guided needle implantation combined with intraoperative prostate tracking. Experiments were done on 90 targets embedded in a total of 9 mobile, deformable, synthetic prostate phantoms. Experiments involved trying to insert glass beads as close as possible to targets in multimodal anthropomorphic imaging phantoms. Results were measured by segmenting the inserted beads in computerized tomography volumes of the phantoms.

RESULTS

The robot reached the chosen targets in phantoms with a median accuracy of 2.73 mm and a median prostate motion of 5.46 mm. Accuracy was better at the apex than at the base (2.28 vs 3.83 mm, p <0.001), and similar for horizontal and angled needle inclinations (2.7 vs 2.82 mm, p = 0.18).

CONCLUSIONS

To our knowledge this robot for prostate focal therapy, brachytherapy and targeted prostate biopsies is the first system to use intraoperative prostate motion tracking to guide needles into the prostate. Preliminary experiments show its ability to reach targets despite prostate motion.

A phantom study comparing ultrasound-guided liver tumor puncture using new real-time 3D ultrasound and conventional 2D ultrasound

OBJECTIVE

The purpose of this study is to compare the accuracy of ultrasound-guided puncture using new real-time 3D (4D) ultrasound and conventional 2D ultrasound for focal hepatic masses using a liver phantom.

MATERIALS AND METHODS

A 4D ultrasound system equipped with a 5-MHz 4D probe displayed both axial and orthogonal images parallel to a puncture line plane. We used a liver phantom that contained four simulated spherical masses in an acrylic box (length × width × height, 300 × 299 × 150 mm) with two different sizes (15 and 30 mm in diameter) in two different positions (30 and 80 mm from the surface). Four inexperienced and four experienced physicians attempted punctures on these four simulated masses twice using 2D and 4D ultrasound guidance in a total of 128 punctures (eight operators, two techniques, and eight punctures per session). The error distance of the puncture was defined as the perpendicular distance from the center of a target mass (sphere) to the line of the puncture needle in the coronal plane of the target center, which was measured manually on the basis of the 3D volume data on off-line analysis.

RESULTS

On each tumor model, the average error distance with 4D ultrasound was significantly smaller than that with 2D ultrasound, except for one tumor model that was 15 mm in diameter and 30 mm in depth. The average error distances for the experienced group tended to be smaller than those for the inexperienced group, with both techniques and on each tumor model, and there was a statistically significant difference between the two groups on one tumor model (30 mm in diameter and 80 mm in depth) on 4D ultrasound (p < 0.05).

CONCLUSION

Four-dimensional ultrasound-guided puncture for liver tumors can markedly improve puncture accuracy for both experienced and inexperienced physicians compared with conventional 2D ultrasound guidance.

Contemporary technique of intraoperative 3-dimensional ultrasonography-guided transperineal prostate cryotherapy

Successful cryotherapy of the prostate for neoplasms relies on imaging to achieve good oncological outcomes with minimal complications. Traditional prostatic cryotherapy relies on 2-dimensional ultrasonography (2DUS) guidance, which often makes it difficult to track the passage of needles in an oblique plane. We describe our initial 3-dimensional ultrasonography (3DUS) system, and the subsequent improvements that have been made during the last 10 years. Our imaging system uses a Philips HDI 5000 ultrasonography unit, a standard PC, a Matrox Meteor II video frame grabber and 3DUS developed at Robarts Research Institute. For the cryotherapy we use ultrathin (17-gauge) IceRod needles. After image acquisition, preplanning is performed using the 3-dimensional (3D) software, and then the IceRod needles are inserted into the prostate. As the freezing process commences, continuous 3DUS images are taken and analyzed during the double freeze-thaw cycles to monitor the progress of the ice ball formation. Real-time intraoperative 3D imaging of the prostate during cryotherapy has allowed us to accurately preplan and then monitor the progression of ice ball formation, which represents a significant advantage over conventional 2DUS.

Temporal-based needle segmentation algorithm for transrectal ultrasound prostate biopsy procedures

PURPOSE

Automatic identification of the biopsy-core tissue location during a prostate biopsy procedure would provide verification that targets were adequately sampled and would allow for appropriate intraprocedure biopsy target modification. Localization of the biopsy core requires accurate segmentation of the biopsy needle and needle tip from transrectal ultrasound (TRUS) biopsy images. A temporal-based TRUS needle segmentation algorithm was developed specifically for the prostate biopsy procedure to automatically identify the TRUS image containing the biopsy needle from a collection of 2D TRUS images and to segment the biopsy-core location from the 2D TRUS image.

METHODS

The temporal-based segmentation algorithm performs a temporal analysis on a series of biopsy TRUS images collected throughout needle insertion and withdrawal. Following the identification of points of needle insertion and retraction, the needle axis is segmented using a Hough transform-based algorithm, which is followed by a temporospectral TRUS analysis to identify the biopsy-needle tip. Validation of the temporal-based algorithm is performed on 108 TRUS biopsy sequences collected from the procedures of ten patients. The success of the temporal search to identify the proper images was manually assessed, while the accuracies of the needle-axis and needle-tip segmentations were quantitatively compared to implementations of two other needle segmentation algorithms within the literature.

RESULTS

The needle segmentation algorithm demonstrated a >99% accuracy in identifying the TRUS image at the moment of needle insertion from the collection of real-time TRUS images throughout the insertion and withdrawal of the biopsy needle. The segmented biopsy-needle axes were accurate to within 2.3 +/- 2.0 degrees and 0.48 +/- 0.42 mm of the gold standard. Identification of the needle tip to within half of the biopsy-core length (<10 mm) was 95% successful with a mean error of 2.4 +/- 4.0 mm. Needle-tip detection using the temporal-based algorithm was significantly more accurate (p < 0.001) than the other two algorithms tested, while the segmentation of the needle axis was not significantly different between the three algorithms.

CONCLUSIONS

The temporal-based needle segmentation algorithm accurately segments the location of the biopsy core from 2D TRUS images of clinical prostate biopsy procedures. The results for needle-tip localization demonstrated that the temporal-based algorithm is significantly more accurate than implementations of some existing needle segmentation algorithms within the literature.

Simulation of autonomous robotic multiple-core biopsy by 3D ultrasound guidance

An autonomous multiple-core biopsy system guided by real-time 3D ultrasound and operated by a robotic arm with 6+1 degrees of freedom has been developed. Using a specimen of turkey breast as a tissue phantom, our system was able to first autonomously locate the phantom in the image volume and then perform needle sticks in each of eight sectors in the phantom in a single session, with no human intervention required. Based on the fraction of eight sectors successfully sampled in an experiment of five trials, a success rate of 93% was recorded. This system could have relevance in clinical procedures that involve multiple needle-core sampling such as prostate or breast biopsy.

Mapping of transrectal ultrasonographic prostate biopsies: quality control and learning curve assessment by image processing

OBJECTIVE

Mapping of transrectal ultrasonographic (TRUS) prostate biopsies is of fundamental importance for either diagnostic purposes or the management and treatment of prostate cancer, but the localization of the cores seems inaccurate. Our objective was to evaluate the capacities of an operator to plan transrectal prostate biopsies under 2-dimensional TRUS guidance using a registration algorithm to represent the localization of biopsies in a reference 3-dimensional ultrasonographic volume.

METHODS

Thirty-two patients underwent a series of 12 prostate biopsies under local anesthesia performed by 1 operator using a TRUS probe combined with specific third-party software to verify that the biopsies were indeed conducted within the planned targets.

RESULTS

The operator reached 71% of the planned targets with substantial variability that depended on their localization (100% success rate for targets in the middle and right parasagittal parts versus 53% for targets in the left lateral base). Feedback from this system after each series of biopsies enabled the operator to significantly improve his dexterity over the course of time (first 16 patients: median score, 7 of 10 and cumulated median biopsy length in targets of 90 mm; last 16 patients, median score, 9 of 10 and a cumulated median length of 121 mm; P = .046).

CONCLUSIONS

In addition to being a useful tool to improve the distribution of prostate biopsies, the potential of this system is above all the preparation of a detailed "map" of each patient showing biopsy zones without substantial changes in routine clinical practices.

Mechanically assisted 3D ultrasound guided prostate biopsy system

There are currently limitations associated with the prostate biopsy procedure, which is the most commonly used method for a definitive diagnosis of prostate cancer. With the use of two-dimensional (2D) transrectal ultrasound (TRUS) for needle-guidance in this procedure, the physician has restricted anatomical reference points for guiding the needle to target sites. Further, any motion of the physician's hand during the procedure may cause the prostate to move or deform to a prohibitive extent. These variations make it difficult to establish a consistent reference frame for guiding a needle. We have developed a 3D navigation system for prostate biopsy, which addresses these shortcomings. This system is composed of a 3D US imaging subsystem and a passive mechanical arm to minimize prostate motion. To validate our prototype, a series of experiments were performed on prostate phantoms. The 3D scan of the string phantom produced minimal geometric distortions, and the geometric error of the 3D imaging subsystem was 0.37 mm. The accuracy of 3D prostate segmentation was determined by comparing the known volume in a certified phantom to a reconstructed volume generated by our system and was shown to estimate the volume with less then 5% error. Biopsy needle guidance accuracy tests in agar prostate phantoms showed that the mean error was 2.1 mm and the 3D location of the biopsy core was recorded with a mean error of 1.8 mm. In this paper, we describe the mechanical design and validation of the prototype system using an in vitro prostate phantom. Preliminary results from an ongoing clinical trial show that prostate motion is small with an in-plane displacement of less than 1 mm during the biopsy procedure.