VTS+15

M.-A. Vitrani, J. Troccaz, A.-S. Silvent, S. Y. Selmi, J. Sarrazin, D. Reversat, E. Promayon, C. Poquet, P. Mozer, G. Morel, G. Fiard, A. Moreau-Gaudry, A. Leroy, M. Janier, M. Baumann. PROSBOT - Model and image controlled prostatic robot. IRBM, 36(2):118-125, 2015.

Download

Download paper: Doi page (doi)

Download paper: (link)

Copyright notice: Disclaimer: this material is presented to ensure timely dissemination of scholarly and technical work. Files of articles may be covered by copyright. You may browse the articles at your convenience in the same spirit as you may read a journal or conference proceedings in a public library. Retrieving, copying, distributing these files, entirely or in parts, may violate copyright protection laws. Copyright and all rights therein are retained by authors or by other copyright holders. All person copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. In most cases, these works may not be reposted without the explicit permission of the copyright holder.

Abstract

Abstract 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 feed-back 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

Keywords

[ Softtissue ] [ Prostate ]

Contact

Emmanuel Promayon http://membres-timc.imag.fr/Emmanuel.Promayon

BibTex Reference

@article{VTS+15,
   Author = {Vitrani, M.-A. and Troccaz, J. and Silvent, A.-S. and Y. Selmi, S. and Sarrazin, J. and Reversat, D. and Promayon, E. and Poquet, C. and Mozer, P. and Morel, G. and Fiard, G. and Moreau-Gaudry, A. and Leroy, A. and Janier, M. and Baumann, M.},
   Title = {{PROSBOT} - Model and image controlled prostatic robot},
   Journal = {IRBM},
   Volume = {36},
   Number = {2},
   Pages = {118--125},
   Year = {2015}
}

EndNote Reference [help]

Get EndNote Reference (.ref)