Experimental Study on MRI-TRUS Image-guided Prostate Puncture

At present, the incidence of prostate cancer in men is increasing year by year. Prostate puncture surgery requires doctors to manually segment the contours of the prostate and tumor based on the patient's Magnetic Resonance Imaging (MRI) images before surgery to develop a surgical plan. During the surgery, Transrectal Ultrasound (TRUS) images are used for real-time guidance, and the doctor performs manual puncture. The accurate segmentation of the prostate and tumor boundary contours during this process is the basis for achieving precise puncture, but the accuracy of segmentation is limited by the subjective experience of doctors. In addition, the instability of manual puncture during the surgical process will further increase the puncture error. Therefore, this article combines the high soft tissue contrast of preoperative MRI with the low-cost real-time imaging of intraoperative TRUS to build an MRI-TRUS image-guided robot prostate puncture experimental platform. The experimental results showed that the maximum and average puncture errors of the puncture experiment were 1.93mm and 1.41mm, respectively. The experiment verified that using MRI-TRUS image-guided prostate puncture surgery can effectively improve the accuracy and reliability of prostate puncture surgery.