Systematic 12-core transperineal prostate biopsy with minimal active needle insertions in a patient prostate-sized phantom

Abstract

Systematic 12-core prostate biopsy has been an established practice for prostate cancer diagnosis. The procedure involves extraction of a tissue sample from 12 zones of the prostate gland for pathologic analyses using at least 12 needle insertions. The procedure is usually performed using straight needles and under ultrasound imaging. We have previously developed an active tendon-driven biopsy needle that can bend inside tissue with teleoperative or robotic control. This work presents our active biopsy needle s capability to reach 12 marked zones in a patient-specific prostate model, avoiding the urethra, with only two insertions in a transperineal prostate biopsy.