PROSBOT – Model and image controlled prostatic robot

M.-A. Vitrani (1, 2) , Jocelyne Troccaz (3) , A.-S. Silvent (4) , S.Y. Selmi (3) , J. Sarrazin (5) , D. Reversat (1) , E. Promayon (3) , C. Poquet (1) , P. Mozer (6) , Guillaume Morel (1) , G. Fiard (7, 3) , A. Moreau-Gaudry (4, 3) , A. Leroy (8, 5) , M. Janier (9) , M. Baumann

1 ISIR - Institut des Systèmes Intelligents et de Robotique
2 AGATHE - Assistance aux Gestes et Applications THErapeutiques
3 TIMC-IMAG-GMCAO - Gestes Medico-chirurgicaux Assistés par Ordinateur
4 CIC-IT Grenoble (CIT803) - Centre d'Investigation Clinique - Innovation Technologique - INSERM - CHU de Grenoble
5 Société KOELIS
6 CHU Pitié-Salpêtrière [AP-HP]
7 Service d'urologie
8 Laboratoire de Biochimie Appliquée
9 CREATIS - Centre de Recherche et d'Application en Traitement de l'Image et du Signal

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.

Keywords: simulation; prostate; 3D ultrasound; biopsie; robotique médicale

Domains: Medical Imaging; Robotics [cs.RO]; Bioengineering; Automatic

M.-A. Vitrani, Jocelyne Troccaz, A.-S. Silvent, S.Y. Selmi, J. Sarrazin, et al.. PROSBOT – Model and image controlled prostatic robot. Innovation and Research in BioMedical engineering, 2015, 36 (2), pp.118-125. ⟨10.1016/j.irbm.2015.01.012⟩. ⟨hal-02347634⟩