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1. Prostate biopsy tracking with deformation estimation

Author

Michael Baumann, Vincent Daanen, Pierre Mozer, Jocelyne Troccaz, Techniques de l'Ingénierie Médicale et de la Complexité - Informatique, Mathématiques et Applications, Grenoble - UMR 5525 (TIMC-IMAG), VetAgro Sup - Institut national d'enseignement supérieur et de recherche en alimentation, santé animale, sciences agronomiques et de l'environnement (VAS)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Université Joseph Fourier - Grenoble 1 (UJF), Société KOELIS, entreprise, CHU Pitié-Salpêtrière [AP-HP], Sorbonne Université (SU)-Assistance publique - Hôpitaux de Paris (AP-HP) (AP-HP), and Cifre avec société Koelis PHRC national prostate-écho

Subjects
FOS: Computer and information sciences, Male, Prostate biopsy, [SDV.IB.IMA]Life Sciences [q-bio]/Bioengineering/Imaging, Computer Vision and Pattern Recognition (cs.CV), [INFO.INFO-OH]Computer Science [cs]/Other [cs.OH], Computer Science - Computer Vision and Pattern Recognition, 030218 nuclear medicine & medical imaging, Pattern Recognition, Automated, Prostate cancer, 0302 clinical medicine, Prostate, 3D ultrasound, prostate biopsy, Radiation treatment planning, Radiological and Ultrasound Technology, medicine.diagnostic_test, Biopsy, Needle, Computer Graphics and Computer-Aided Design, 3. Good health, medicine.anatomical_structure, Surgery, Computer-Assisted, 030220 oncology & carcinogenesis, Computer Vision and Pattern Recognition, Radiology, Algorithms, medicine.medical_specialty, Image registration, FOS: Physical sciences, Health Informatics, Models, Biological, Sensitivity and Specificity, 03 medical and health sciences, Elastic Modulus, Biopsy, medicine, Humans, Radiology, Nuclear Medicine and imaging, Computer Simulation, Ultrasonography, Interventional, business.industry, Prostatic Neoplasms, Reproducibility of Results, medicine.disease, Physics - Medical Physics, image registration, Medical Physics (physics.med-ph), Fiducial marker, business
Abstract

Transrectal biopsies under 2D ultrasound (US) control are the current clinical standard for prostate cancer diagnosis. The isoechogenic nature of prostate carcinoma makes it necessary to sample the gland systematically, resulting in a low sensitivity. Also, it is difficult for the clinician to follow the sampling protocol accurately under 2D US control and the exact anatomical location of the biopsy cores is unknown after the intervention. Tracking systems for prostate biopsies make it possible to generate biopsy distribution maps for intra- and post-interventional quality control and 3D visualisation of histological results for diagnosis and treatment planning. They can also guide the clinician toward non-ultrasound targets. In this paper, a volume-swept 3D US based tracking system for fast and accurate estimation of prostate tissue motion is proposed. The entirely image-based system solves the patient motion problem with an a priori model of rectal probe kinematics. Prostate deformations are estimated with elastic registration to maximize accuracy. The system is robust with only 17 registration failures out of 786 (2%) biopsy volumes acquired from 47 patients during biopsy sessions. Accuracy was evaluated to 0.76$\pm$0.52mm using manually segmented fiducials on 687 registered volumes stemming from 40 patients. A clinical protocol for assisted biopsy acquisition was designed and implemented as a biopsy assistance system, which allows to overcome the draw-backs of the standard biopsy procedure., Medical Image Analysis (2011) epub ahead of print

Published
2011
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2. Modélisation biomécanique pour l'imagerie de prostate

Author

Sarrazin, Johan, Techniques de l'Ingénierie Médicale et de la Complexité - Informatique, Mathématiques et Applications, Grenoble - UMR 5525 (TIMC-IMAG), Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-VetAgro Sup - Institut national d'enseignement supérieur et de recherche en alimentation, santé animale, sciences agronomiques et de l'environnement (VAS)-Centre National de la Recherche Scientifique (CNRS)-Université Grenoble Alpes [2016-2019] (UGA [2016-2019]), Université Grenoble Alpes, Emmanuel Promayon, Société KOELIS, entreprise, Gestes Medico-chirurgicaux Assistés par Ordinateur (TIMC-IMAG-GMCAO), Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-VetAgro Sup - Institut national d'enseignement supérieur et de recherche en alimentation, santé animale, sciences agronomiques et de l'environnement (VAS)-Centre National de la Recherche Scientifique (CNRS)-Université Grenoble Alpes [2016-2019] (UGA [2016-2019])-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-VetAgro Sup - Institut national d'enseignement supérieur et de recherche en alimentation, santé animale, sciences agronomiques et de l'environnement (VAS)-Centre National de la Recherche Scientifique (CNRS)-Université Grenoble Alpes [2016-2019] (UGA [2016-2019]), Cifre ANRT, KOELIS, TIMC-IMAG, Communauté Université Grenoble Alpes, Jocelyne Troccaz, Michael Baumann, ANR-11-TECS-0017,PROSBOT,Robot Prostatique Contrôlé par Modèle et Image(2011), Sarrazin, Johan, Technologie pour la santé et l’autonomie - Robot Prostatique Contrôlé par Modèle et Image - - PROSBOT2011 - ANR-11-TECS-0017 - TecSan - VALID, and STAR, ABES

Subjects
[SDV.MHEP] Life Sciences [q-bio]/Human health and pathology, Échographie transrectale, Biomécanique, Trasnrectal ultrasonography, Prostate, Biomechanical Modeling of Prostate, [INFO.INFO-MO]Computer Science [cs]/Modeling and Simulation, Calibrage Hand-Eye, Biopsies de Prostate, Modelling, General Validation Workflow, TransRectal UltraSonography (TRUS), Modélisation, Modélisation Biomécanique de la Prostate, Chaîne de Validation Générique, Biomechanics, [INFO.INFO-MO] Computer Science [cs]/Modeling and Simulation, Hand-Eye Calibration, Trus, Prostate Biopsy Session, Échographie TransRectale (TRUS), [SDV.MHEP]Life Sciences [q-bio]/Human health and pathology
Abstract

In 2012 in France, prostate cancer was the most frequent cancer with 53 465 new cases estimated and 8 876 deaths. Transrectal prostate biopsy is the only method used to prove the presence of cancer with a histopathologic study. Twelve biopsies are evenly punctured all around the prostate by the urologist as well as targeted areas. This is generally done with the guidance of endorectal ultrasound images. The difficulties for the urologist are to perform this 3D task precisely and accurately based on 2D imaging. Moreover image acquisition itself contributes to prostate motion and deformation.It is within this framework that we proposed the development of patient-specific biomechanical model of prostate. This model can be used in a clinical time and is based only on 3D ultrasonographic volumes. The model allows the urologist to monitor the deformations and the displacements of the prostate and to follow targeted areas. Firstly, we were interested in building a validation workflow for prototyping and conducting a large-scale test to evaluate the impact of each necessary step before the dynamic simulation. An initial test was conducted with a realistic deformable prostate phantom. This experiment is based on more than 800 simulations allowing us to complete a statistical survey. We then developed and validated tools, such as the calibration of a robot probe-holder to improve the workflow and to perform real patient data acquisitions. An evaluation of the impact of each parameter of the biomechanical model was achieved on a realistic deformable prostate phantom. Finally, we had the opportunity to apply our workflow on one patient biopsy session acquisition. Results are encouraging and shows good perspectives to our work., Le cancer de prostate était, en France en 2012, le premier cancer masculin avec plus de 53 465 nouveaux cas par an et 8 876 décès. La biopsie transrectale de prostate est la méthode utilisée afin de déterminer de manière histopathologique la présence ou non du cancer. Le plus souvent, l’urologue ponctionne la prostate en douze positions, équiréparties sur l’ensemble la prostate ainsi que des zones cibles. Ceci se fait classiquement sous guidage échographique endorectal. La difficulté pour l’urologue est de pouvoir réaliser cette cartographie de prostate de manière précise alors qu’il ne dispose, le plus souvent, que d’une imagerie 2D et que l’acquisition des images elle-même contribue à déplacer et déformer la prostate.C’est dans ce cadre que nous proposons le développement d’un modèle biomécanique de prostate patient-spécifique, utilisable en temps clinique, basé uniquement sur l’acquisition d’échographies transrectales. Ce modèle apporte un moyen de prendre en compte les déplacements et déformations de la prostate ainsi que des zones cibles. Pour cela, nous nous sommes intéressés à la construction d’une chaîne de validation permettant le prototypage et le test à grande échelle de paramètres sur des données issues de bancs expérimentaux ou cliniques afin d’évaluer l’impact de chaque étape jusqu’à la simulation biomécanique. Au cours de cette thèse, une première phase de test a été réalisée sur un fantôme réaliste de prostate afin d’étudier l’impact des paramètres de nos modèles au travers d’une étude statistique basée sur plus de 800 simulations. Des conclusions de ce premier essai, nous avons développé et validé des outils permettant l’acquisition de données cliniques tels que le calibrage d’un robot porte-sonde ou le développement d’une méthode de collision basée sur des contraintes projectives. Un premier test patient a pu être réalisé au cours de cette thèse et montre des résultats encourageants pour la poursuite de ces travaux.

Published
2016

3. Prostate biopsies assisted by comanipulated probe-holder: first in man

Author

Guillaume Morel, Pierre Mozer, Michael Baumann, David Reversat, Marie-Aude Vitrani, Alexandre Moreau-Gaudry, Institut des Systèmes Intelligents et de Robotique (ISIR), Université Pierre et Marie Curie - Paris 6 (UPMC)-Centre National de la Recherche Scientifique (CNRS), Assistance aux Gestes et Applications THErapeutiques (AGATHE), Université Pierre et Marie Curie - Paris 6 (UPMC)-Centre National de la Recherche Scientifique (CNRS)-Université Pierre et Marie Curie - Paris 6 (UPMC)-Centre National de la Recherche Scientifique (CNRS)-Institut National de la Santé et de la Recherche Médicale (INSERM), Société KOELIS, entreprise, Centre d'Investigation Clinique - Innovation Technologique - INSERM - CHU de Grenoble (CIC-IT Grenoble (CIT803)), CHU Grenoble-Institut National de la Santé et de la Recherche Médicale (INSERM)-Université Grenoble Alpes (UGA), Service d'Urologie [CHU Pitié-Salpêtrière], CHU Pitié-Salpêtrière [AP-HP], Assistance publique - Hôpitaux de Paris (AP-HP) (AP-HP)-Sorbonne Université (SU)-Assistance publique - Hôpitaux de Paris (AP-HP) (AP-HP)-Sorbonne Université (SU), and Assistance publique - Hôpitaux de Paris (AP-HP) (AP-HP)-Sorbonne Université (SU)

Subjects
Image-Guided Biopsy, Male, Microsurgery, 0209 industrial biotechnology, medicine.medical_specialty, Prostate biopsy, Computer science, Biopsy, 030232 urology & nephrology, Biomedical Engineering, Health Informatics, 02 engineering and technology, Endosonography, law.invention, [SPI.AUTO]Engineering Sciences [physics]/Automatic, 03 medical and health sciences, 020901 industrial engineering & automation, 0302 clinical medicine, Robotic Surgical Procedures, Randomized controlled trial, law, medicine, Humans, Six degrees of freedom, Radiology, Nuclear Medicine and imaging, Prospective Studies, Aged, Protocol (science), medicine.diagnostic_test, business.industry, Biopsy, Needle, Prostate, Prostatic Neoplasms, Robotics, Usability, General Medicine, Middle Aged, Magnetic Resonance Imaging, Computer Graphics and Computer-Aided Design, Computer Science Applications, Surgery, Clinical trial, Robot, Computer Vision and Pattern Recognition, Artificial intelligence, business, Biomedical engineering
Abstract

International audience; Purpose: a comanipulator for assisting endorectal prostate biopsies is evaluated through a first-in man clinical trial. This lightweight system, based on conventional robotic components, possesses 6 degrees of freedom. It uses 3 electric motors and 3 brakes. It features a free mode, where its low friction and inertia allow for natural manipulation of the probe and a locked mode, exhibiting both a very low stiffness and a high steady state precision. Methods: Clinical trials focusing on the free mode and the locked mode of the robot are presented. The objective is to evaluate the practical usability and performance of the robot during clinical procedures. A research protocol for a prospective randomized clinical trial has been designed. Its specific goal is to compare the accuracy of biopsies performed with and without the assistance of the comanipulator. Results:The accuracy is compared between biopsies performed with and without the assistance of the comanipulator, across the 10 first patients included in the trial. Results show a statistically significant increase of the precision.. This work is partially funded french state funds managed by the ANR within the Investissements d'Avenir programme (Labex CAMI) under reference ANR-11-LABX-0004. 2 Marie-Aude Vitrani et al.

Published
2016
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4. Hand-Eye Calibration of a Robot -UltraSound Probe System without any 3D Localizers

Author

Emmanuel Promayon, Michael Baumann, Johan Sarrazin, Jocelyne Troccaz, Gestes Medico-chirurgicaux Assistés par Ordinateur (TIMC-IMAG-GMCAO), Techniques de l'Ingénierie Médicale et de la Complexité - Informatique, Mathématiques et Applications, Grenoble - UMR 5525 (TIMC-IMAG), VetAgro Sup - Institut national d'enseignement supérieur et de recherche en alimentation, santé animale, sciences agronomiques et de l'environnement (VAS)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Université Joseph Fourier - Grenoble 1 (UJF)-VetAgro Sup - Institut national d'enseignement supérieur et de recherche en alimentation, santé animale, sciences agronomiques et de l'environnement (VAS)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Université Joseph Fourier - Grenoble 1 (UJF), Société KOELIS, entreprise, ANR-11-TECS-0017,PROSBOT,Robot Prostatique Contrôlé par Modèle et Image(2011), ANR-11-LABX-0004,CAMI,Gestes Médico-Chirurgicaux Assistés par Ordinateur(2011), Troccaz, Jocelyne, Technologie pour la santé et l’autonomie - Robot Prostatique Contrôlé par Modèle et Image - - PROSBOT2011 - ANR-11-TECS-0017 - TecSan - VALID, and Gestes Médico-Chirurgicaux Assistés par Ordinateur - - CAMI2011 - ANR-11-LABX-0004 - LABX - VALID

Subjects
Engineering, Coordinate system, [INFO.INFO-IM] Computer Science [cs]/Medical Imaging, Kinematics, Imaging, Three-Dimensional, Ultrasound probe, medicine, Calibration, [INFO.INFO-IM]Computer Science [cs]/Medical Imaging, Humans, [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], 3D ultrasound, Computer vision, Ultrasonography, [SDV.IB] Life Sciences [q-bio]/Bioengineering, medicine.diagnostic_test, business.industry, [INFO.INFO-RB] Computer Science [cs]/Robotics [cs.RO], Robotics, Biomechanical Phenomena, Robot, Manual segmentation, [SDV.IB]Life Sciences [q-bio]/Bioengineering, Artificial intelligence, Hand eye calibration, business, hand-eye calibration
Abstract

International audience; 3D UltraSound (US) probes are used in clinical applications for their ease of use and ability to obtain intra-operative volumes. In surgical navigation applications a calibration step is needed to localize the probe in a general coordinate system. This paper presents a new hand-eye calibration method using directly the kinematic model of a robot and US volume registration data that does not require any 3D localizers. First results show a targeting error of 2.34 mm on an experimental setup using manual segmentation of five beads in ten US volumes.

Published
2015

5. PROSBOT – Model and image controlled prostatic robot

Author

G. Fiard, Pierre Mozer, Jocelyne Troccaz, Guillaume Morel, Sonia-Yuki Selmi, A.-S. Silvent, Johan Sarrazin, Mathilde Janier, Marie-Aude Vitrani, David Reversat, A. Leroy, Emmanuel Promayon, Cecile Poquet, A. Moreau-Gaudry, Michael Baumann, Institut des Systèmes Intelligents et de Robotique (ISIR), Université Pierre et Marie Curie - Paris 6 (UPMC)-Centre National de la Recherche Scientifique (CNRS), Assistance aux Gestes et Applications THErapeutiques (AGATHE), Université Pierre et Marie Curie - Paris 6 (UPMC)-Centre National de la Recherche Scientifique (CNRS)-Université Pierre et Marie Curie - Paris 6 (UPMC)-Centre National de la Recherche Scientifique (CNRS)-Institut National de la Santé et de la Recherche Médicale (INSERM), Gestes Medico-chirurgicaux Assistés par Ordinateur (TIMC-IMAG-GMCAO), Techniques de l'Ingénierie Médicale et de la Complexité - Informatique, Mathématiques et Applications, Grenoble - UMR 5525 (TIMC-IMAG), Université Joseph Fourier - Grenoble 1 (UJF)-Centre National de la Recherche Scientifique (CNRS)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-VetAgro Sup - Institut national d'enseignement supérieur et de recherche en alimentation, santé animale, sciences agronomiques et de l'environnement (VAS)-Université Joseph Fourier - Grenoble 1 (UJF)-Centre National de la Recherche Scientifique (CNRS)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-VetAgro Sup - Institut national d'enseignement supérieur et de recherche en alimentation, santé animale, sciences agronomiques et de l'environnement (VAS), Centre d'Investigation Clinique - Innovation Technologique - INSERM - CHU de Grenoble (CIC-IT Grenoble (CIT803)), Université Joseph Fourier - Grenoble 1 (UJF)-CHU Grenoble-Institut National de la Santé et de la Recherche Médicale (INSERM), Société KOELIS, entreprise, Service d'urologie et transplantation rénales [CHU Pitié-Salpétrière], CHU Pitié-Salpêtrière [AP-HP], Sorbonne Université-Assistance publique - Hôpitaux de Paris (AP-HP) (AP-HP)-Sorbonne Université-Assistance publique - Hôpitaux de Paris (AP-HP) (AP-HP), Service d'urologie, CHU Grenoble-Hôpital Michallon, ANR-11-TECS-0017,PROSBOT,Robot Prostatique Contrôlé par Modèle et Image(2011), VetAgro Sup - Institut national d'enseignement supérieur et de recherche en alimentation, santé animale, sciences agronomiques et de l'environnement (VAS)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Université Joseph Fourier - Grenoble 1 (UJF)-VetAgro Sup - Institut national d'enseignement supérieur et de recherche en alimentation, santé animale, sciences agronomiques et de l'environnement (VAS)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Université Joseph Fourier - Grenoble 1 (UJF), CHU Grenoble-Institut National de la Santé et de la Recherche Médicale (INSERM)-Université Grenoble Alpes (UGA), Service d'Urologie [CHU Pitié-Salpêtrière], Assistance publique - Hôpitaux de Paris (AP-HP) (AP-HP)-Sorbonne Université (SU)-Assistance publique - Hôpitaux de Paris (AP-HP) (AP-HP)-Sorbonne Université (SU), Laboratoire de Biochimie Appliquée, Université Paris-Sud - Paris 11 (UP11), Centre de Recherche et d'Application en Traitement de l'Image et du Signal (CREATIS), Université Claude Bernard Lyon 1 (UCBL), Université de Lyon-Université de Lyon-Institut National des Sciences Appliquées de Lyon (INSA Lyon), Université de Lyon-Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-École Supérieure Chimie Physique Électronique de Lyon-Institut National de la Santé et de la Recherche Médicale (INSERM)-Centre National de la Recherche Scientifique (CNRS), Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-VetAgro Sup - Institut national d'enseignement supérieur et de recherche en alimentation, santé animale, sciences agronomiques et de l'environnement (VAS)-Centre National de la Recherche Scientifique (CNRS)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-VetAgro Sup - Institut national d'enseignement supérieur et de recherche en alimentation, santé animale, sciences agronomiques et de l'environnement (VAS)-Centre National de la Recherche Scientifique (CNRS), Université de Lyon-Université de Lyon-École Supérieure de Chimie Physique Électronique de Lyon (CPE)-Institut National des Sciences Appliquées de Lyon (INSA Lyon), Université de Lyon-Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Institut National de la Santé et de la Recherche Médicale (INSERM)-Centre National de la Recherche Scientifique (CNRS), VITRANI, Marie-Aude, Technologie pour la santé et l’autonomie - Robot Prostatique Contrôlé par Modèle et Image - - PROSBOT2011 - ANR-11-TECS-0017 - TecSan - VALID, Assistance publique - Hôpitaux de Paris (AP-HP) (AP-HP)-Sorbonne Université (SU), Institut National de la Santé et de la Recherche Médicale (INSERM)-Institut des Systèmes Intelligents et de Robotique (ISIR), and Université Pierre et Marie Curie - Paris 6 (UPMC)-Centre National de la Recherche Scientifique (CNRS)-Université Pierre et Marie Curie - Paris 6 (UPMC)-Centre National de la Recherche Scientifique (CNRS)

Subjects
Engineering, media_common.quotation_subject, Biomedical Engineering, Biophysics, [INFO.INFO-IM] Computer Science [cs]/Medical Imaging, biopsie, Image (mathematics), [SPI.AUTO]Engineering Sciences [physics]/Automatic, [INFO.INFO-IM]Computer Science [cs]/Medical Imaging, [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], Sampling (medicine), Function (engineering), Simulation, media_common, Haptic technology, [SDV.IB] Life Sciences [q-bio]/Bioengineering, prostate, business.industry, 3D ultrasound, [INFO.INFO-RB] Computer Science [cs]/Robotics [cs.RO], Transparency (human–computer interaction), simulation, [SPI.AUTO] Engineering Sciences [physics]/Automatic, robotique médicale, Learning curve, Robot, MESH: medical robotics, biopsy, [SDV.IB]Life Sciences [q-bio]/Bioengineering, business, Gesture
Abstract

International audience; The PROSBOT project aims to improve the clinical gesture of prostate biopsy sampling through a pedagogic simulator and a robotic assistance system. The objective of the simulator is to improve the learning curve of systematic and targeted prostate biopsy acquisition through realistic simulations of the gesture and a multitude of pedagogic modules. This paper reports the developed versions of the simulator and their evaluation. The robotic assistance system, called Apollo, is a co-manipulated robotic probe holder that aims at improving the clinical gesture through several functions, amongst which are: a) locking the probe in a target position, b) providing haptic feedback to reduce gland deformation and c) gravity compensation. Two cadaver studies have shown that the device does not negatively impact or disturb the clinical gestures (transparency), but that gravity compensation improves the ergonomics of the gesture and that the locking function helps considerably at maintaining a stable position during puncture. A clinical study is currently ongoing with the objective to prove that biopsy accuracy can be improved with the robot, both for systematic and targeted sampling. Finally, the Apollo project is in an advanced stage of industrialization and will become commercially available. The possibilities for industrialization of the simulator are currently evaluated through a follow-up study. 2015 Elsevier Masson SAS. All rights reserved.

Published
2015
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6. 3D Interactive Ultrasound Image Deformation for Realistic Prostate Biopsy Simulation

Author

Johan Sarrazin, Sonia-Yuki Selmi, Jocelyne Troccaz, Emmanuel Promayon, Gestes Medico-chirurgicaux Assistés par Ordinateur (TIMC-IMAG-GMCAO), Techniques de l'Ingénierie Médicale et de la Complexité - Informatique, Mathématiques et Applications, Grenoble - UMR 5525 (TIMC-IMAG), VetAgro Sup - Institut national d'enseignement supérieur et de recherche en alimentation, santé animale, sciences agronomiques et de l'environnement (VAS)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Université Joseph Fourier - Grenoble 1 (UJF)-VetAgro Sup - Institut national d'enseignement supérieur et de recherche en alimentation, santé animale, sciences agronomiques et de l'environnement (VAS)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Université Joseph Fourier - Grenoble 1 (UJF), Société KOELIS, entreprise, ANR Prosbot and Labex CAMI, and Fernando Bello and Stéphane Cottin

Subjects
Prostate biopsy, Computer science, 0206 medical engineering, [INFO.INFO-OH]Computer Science [cs]/Other [cs.OH], 02 engineering and technology, Deformation (meteorology), Imaging phantom, 030218 nuclear medicine & medical imaging, 03 medical and health sciences, 0302 clinical medicine, medicine, [INFO.INFO-IM]Computer Science [cs]/Medical Imaging, [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], 3D ultrasound, Computer vision, prostate biopsy, medicine.diagnostic_test, business.industry, ultrasound, Ultrasound, Mutual information, simulation, 020601 biomedical engineering, Ultrasound-Guided Prostate Biopsy, [SDV.IB]Life Sciences [q-bio]/Bioengineering, Artificial intelligence, business, medical education, Volume (compression)
Abstract

International audience; Realistic medical procedure simulators improve the learn-ing curve of the clinicians if they can reproduce real conditions and use. This paper describes the improvement of a transrectal ultrasound guided prostate biopsy simulator by adding the simulation of real-time prostate movements and deformations. A discrete bio-mechanical model is used to modify a 3D texture of an ultrasound image volume in order to quickly simulate the actual displacements and deformations. This pa-per describes this model and presents how the mesh deformation is used to induce the UltraSound volume deformation. The validation of the method is based on both a quantitative and a qualitative assessment. Experimental images acquired on a phantom are compared using mutual information metrics to the resulting generated images. This comparison shows that the proposed method offers realistic deformed 3D ultrasound images at interactive time. The method was successfully integrated to improve the transrectal ultrasound simulator.

Published
2014
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7. Evaluation of a 3D MR/MR elastic registration method for prostate cancer imaging

Author

Lehaire, J., Lartizien, C., Niaf, E., Baumann, M., Souchon, R., Bratan, F., Rouvière, O., 2 - Images et Modèles, Centre de Recherche en Acquisition et Traitement de l'Image pour la Santé ( CREATIS ), Hospices Civils de Lyon ( HCL ) -Université Jean Monnet [Saint-Étienne] ( UJM ) -Institut National de la Santé et de la Recherche Médicale ( INSERM ) -Centre National de la Recherche Scientifique ( CNRS ) -Université Claude Bernard Lyon 1 ( UCBL ), Université de Lyon-Université de Lyon-Institut National des Sciences Appliquées de Lyon ( INSA Lyon ), Université de Lyon-Institut National des Sciences Appliquées ( INSA ) -Institut National des Sciences Appliquées ( INSA ) -Hospices Civils de Lyon ( HCL ) -Université Jean Monnet [Saint-Étienne] ( UJM ) -Institut National de la Santé et de la Recherche Médicale ( INSERM ) -Centre National de la Recherche Scientifique ( CNRS ) -Université Claude Bernard Lyon 1 ( UCBL ), Université de Lyon-Institut National des Sciences Appliquées ( INSA ) -Institut National des Sciences Appliquées ( INSA ), Application des ultrasons à la thérapie ( LabTAU ), Université Claude Bernard Lyon 1 ( UCBL ), Université de Lyon-Université de Lyon-Centre Léon Bérard [Lyon]-Institut National de la Santé et de la Recherche Médicale ( INSERM ), Société KOELIS, entreprise, Department of Urinary and Vascular Radiology, Hospices Civils de Lyon ( HCL ), Images et Modèles, Centre de Recherche en Acquisition et Traitement de l'Image pour la Santé (CREATIS), Université Claude Bernard Lyon 1 (UCBL), Université de Lyon-Université de Lyon-Institut National des Sciences Appliquées de Lyon (INSA Lyon), Université de Lyon-Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Hospices Civils de Lyon (HCL)-Université Jean Monnet [Saint-Étienne] (UJM)-Institut National de la Santé et de la Recherche Médicale (INSERM)-Centre National de la Recherche Scientifique (CNRS)-Université Claude Bernard Lyon 1 (UCBL), Université de Lyon-Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Hospices Civils de Lyon (HCL)-Université Jean Monnet [Saint-Étienne] (UJM)-Institut National de la Santé et de la Recherche Médicale (INSERM)-Centre National de la Recherche Scientifique (CNRS), Application des ultrasons à la thérapie (LabTAU), Centre Léon Bérard [Lyon]-Université Claude Bernard Lyon 1 (UCBL), Université de Lyon-Université de Lyon-Institut National de la Santé et de la Recherche Médicale (INSERM), and Hospices Civils de Lyon (HCL)

Subjects
[SDV.IB.IMA]Life Sciences [q-bio]/Bioengineering/Imaging, [ SPI.SIGNAL ] Engineering Sciences [physics]/Signal and Image processing, [SPI.SIGNAL]Engineering Sciences [physics]/Signal and Image processing, [ SDV.IB.IMA ] Life Sciences [q-bio]/Bioengineering/Imaging
Abstract

International audience; Early detection and localization of prostate cancer is crucial for appropriate patient management. Recent studies suggest that computer-assisted diagnosis systems combining different imaging modalities (MR/MR, MR/US) can improve prostate cancer detection1 and open the wayto targeted biopsies and focal therapy2. Such fusion processes are limited by prostate motion and deformation, particularly at the prostate-rectum interface. A non-rigid multimodal image registration process based on shape statistics has been developed to coregister T2-weighted MR and 3D transrectal ultrasound acquisitions3. Based on the good precision achieved4, this method was adapted to coregister T2-weighted, diffusion-weighted (DW) and dynamic contrast-enhanced (DCE) images and evaluated on 28 prostate cancer patients.

Published
2013

8. MR prior based automatic segmentation of the prostate in TRUS images for MR/TRUS data fusion

Author

Jocelyne Troccaz, Michael Baumann, Vincent Daanen, Sébastien Martin, Troccaz, Jocelyne, Technologies pour la santé - ACCES PERINEAL A LA PROSTATE ASSISTE PAR ORDINATEUR - - PROSPER2007 - ANR-07-TECS-0017 - TECSAN - VALID, Techniques de l'Ingénierie Médicale et de la Complexité - Informatique, Mathématiques et Applications, Grenoble - UMR 5525 (TIMC-IMAG), VetAgro Sup - Institut national d'enseignement supérieur et de recherche en alimentation, santé animale, sciences agronomiques et de l'environnement (VAS)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Université Joseph Fourier - Grenoble 1 (UJF), Société KOELIS, entreprise, Gestes Medico-chirurgicaux Assistés par Ordinateur (TIMC-IMAG-GMCAO), VetAgro Sup - Institut national d'enseignement supérieur et de recherche en alimentation, santé animale, sciences agronomiques et de l'environnement (VAS)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Université Joseph Fourier - Grenoble 1 (UJF)-VetAgro Sup - Institut national d'enseignement supérieur et de recherche en alimentation, santé animale, sciences agronomiques et de l'environnement (VAS)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Université Joseph Fourier - Grenoble 1 (UJF), and ANR-07-TECS-0017,PROSPER,ACCES PERINEAL A LA PROSTATE ASSISTE PAR ORDINATEUR(2007)

Subjects
[SDV.IB.IMA]Life Sciences [q-bio]/Bioengineering/Imaging, [INFO.INFO-OH]Computer Science [cs]/Other [cs.OH], Image registration, 02 engineering and technology, 030218 nuclear medicine & medical imaging, 03 medical and health sciences, 0302 clinical medicine, Prostate, registration, 0202 electrical engineering, electronic engineering, information engineering, medicine, magnetic resonance imaging, Segmentation, Computer vision, Image fusion, business.industry, ultrasound, segmentation, Image segmentation, Sensor fusion, [INFO.INFO-OH] Computer Science [cs]/Other [cs.OH], medicine.anatomical_structure, [SDV.IB.IMA] Life Sciences [q-bio]/Bioengineering/Imaging, Fully automatic, Automatic segmentation, 020201 artificial intelligence & image processing, Artificial intelligence, business
Abstract

International audience; The poor signal-to-noise ratio in transrectal ultrasound (TRUS) images makes the fully automatic segmentation of the prostate challenging and most approaches proposed in the literature still lack robustness and accuracy. However, it is relatively straightforward to obtain high quality segmentations in magnetic resonance (MR) images. In the context of MR to TRUS data fusion the information gathered in the MR images can hence provide a strong prior for US segmentation. In this paper, we describe a method to non-linearly register a patient specific mesh of the prostate build from MR images to TRUS volume. The MR prior provides shape and volume constraints that are used to guide the MR-to-TRUS surface deformation, in collaboration with a US image contour appearance model. The anatomical point correspondences between the MR and TRUS surfaces are obtained implicitly. The method was validated on 30 pairs of MR/TRUS patient exams and achieves a mean Dice value 0.85 and a mean surface error of 2.0 mm.

Published
2010

9. [Real-time three-dimensional (4D) ultrasound-guided prostatic biopsies on a phantom. Comparative study versus 2D guidance]

Author

Jean-Alexandre, Long, Vincent, Daanen, Alexandre, Moreau-Gaudry, Jocelyne, Troccaz, Jean-Jacques, Rambeaud, Jean-Luc, Descotes, Service d'urologie, CHU Grenoble-Hôpital Michallon, Société KOELIS, entreprise, GMCAO, Techniques de l'Ingénierie Médicale et de la Complexité - Informatique, Mathématiques et Applications, Grenoble - UMR 5525 (TIMC-IMAG), VetAgro Sup - Institut national d'enseignement supérieur et de recherche en alimentation, santé animale, sciences agronomiques et de l'environnement (VAS)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Université Joseph Fourier - Grenoble 1 (UJF)-VetAgro Sup - Institut national d'enseignement supérieur et de recherche en alimentation, santé animale, sciences agronomiques et de l'environnement (VAS)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Université Joseph Fourier - Grenoble 1 (UJF)-Centre d'Investigation Clinique - Innovation Technologique - INSERM - CHU de Grenoble (CIC-IT Grenoble (CIT803)), CHU Grenoble-Institut National de la Santé et de la Recherche Médicale (INSERM)-Université Grenoble Alpes (UGA)-CHU Grenoble-Institut National de la Santé et de la Recherche Médicale (INSERM)-Université Grenoble Alpes (UGA), Gestes Medico-chirurgicaux Assistés par Ordinateur (TIMC-IMAG-GMCAO), VetAgro Sup - Institut national d'enseignement supérieur et de recherche en alimentation, santé animale, sciences agronomiques et de l'environnement (VAS)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Université Joseph Fourier - Grenoble 1 (UJF)-VetAgro Sup - Institut national d'enseignement supérieur et de recherche en alimentation, santé animale, sciences agronomiques et de l'environnement (VAS)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Université Joseph Fourier - Grenoble 1 (UJF), CHU Grenoble-Ministère de la santé, VetAgro Sup - Institut national d'enseignement supérieur et de recherche en alimentation, santé animale, sciences agronomiques et de l'environnement (VAS)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Université Joseph Fourier - Grenoble 1 (UJF)-VetAgro Sup - Institut national d'enseignement supérieur et de recherche en alimentation, santé animale, sciences agronomiques et de l'environnement (VAS)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Université Joseph Fourier - Grenoble 1 (UJF)-CHU Grenoble, and Université Joseph Fourier - Grenoble 1 (UJF)-CHU Grenoble-CHU Grenoble

Subjects
Male, Models, Anatomic, Time Factors, MESH: Humans, Biopsy, MESH: Time Factors, Prostate, MESH: Imaging, Three-Dimensional, MESH: Models, Anatomic, MESH: Prostate, MESH: Male, MESH: Biopsy, Imaging, Three-Dimensional, [INFO.INFO-TS]Computer Science [cs]/Signal and Image Processing, Humans, [SDV.SPEE]Life Sciences [q-bio]/Santé publique et épidémiologie, [SDV.IB]Life Sciences [q-bio]/Bioengineering, [SPI.SIGNAL]Engineering Sciences [physics]/Signal and Image processing, Ultrasonography
Abstract

International audience; OBJECTIVE: The objective of this study was to determine the added value of real-time three-dimensional (4D) ultrasound guidance of prostatic biopsies on a prostate phantom in terms of the precision of guidance and distribution. METHODS: A prostate phantom was constructed. A real-time 3D ultrasonograph connected to a transrectal 5.9 MHz volumic transducer was used. Fourteen operators performed 336 biopsies with 2D guidance then 4D guidance according to a 12-biopsy protocol. Biopsy tracts were modelled by segmentation in a 3D ultrasound volume. Specific software allowed visualization of biopsy tracts in the reference prostate and evaluated the zone biopsied. A comparative study was performed to determine the added value of 4D guidance compared to 2D guidance by evaluating the precision of entry points and target points. The distribution was evaluated by measuring the volume investigated and by a redundancy ratio of the biopsy points. RESULTS: The precision of the biopsy protocol was significantly improved by 4D guidance (p = 0.037). No increase of the biopsy volume and no improvement of the distribution of biopsies were observed with 4D compared to 2D guidance. CONCLUSION: The real-time 3D ultrasound-guided prostate biopsy technique on a phantom model appears to improve the precision and reproducibility of a biopsy protocol, but the distribution of biopsies does not appear to be improved.

Published
2007

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