Development of a parallel robotic system for transperineal biopsy of the prostate

Abstract. Prostate cancer is the second deadliest form of cancer, even though it is less invasive and easily curable in early stages, due to the lack of an efficient and accurate diagnosis strategy. To date, the standard diagnosis procedure involves a blind biopsy with a high rate of false negative results. In order to overcome these limitations, the paper proposes the development of a novel parallel robotic structure for transperineal prostate biopsy that enables an accurate diagnosis through ultrasound-guided targeted tissue sampling. The robotic system consists of two parallel modules, each with 5 degrees of freedom (DOFs): one module guiding the transrectal ultrasound probe (TRUS) and the other guiding the biopsy gun. The two modules are designed to work together in order to help the physician with the tissue sampling of the prostate. The singular configurations of both robotic modules are analyzed and solutions for avoiding them are provided. The experimental model of the robotic structure is described along with the initial test results, which evaluate the robot accuracy for several medically relevant sets of coordinates.