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Prostate biopsies assisted by comanipulated probe-holder: first in man

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International Journal of Computer Assisted Radiology and Surgery Aims and scope Submit manuscript

Abstract

Purpose

A comanipulator for assisting endorectal prostate biopsies is evaluated through a first-in-man clinical trial. This lightweight system, based on conventional robotic components, possesses six degrees of freedom. It uses three electric motors and three brakes. It features a free mode, where its low friction and inertia allow for natural manipulation of the probe and a locked mode, exhibiting both a very low stiffness and a high steady-state precision.

Methods

Clinical trials focusing on the free mode and the locked mode of the robot are presented. The objective was to evaluate the practical usability and performance of the robot during clinical procedures. A research protocol for a prospective randomized clinical trial has been designed. Its specific goal was to compare the accuracy of biopsies performed with and without the assistance of the comanipulator.

Results

The accuracy is compared between biopsies performed with and without the assistance of the comanipulator, across the 10 first patients included in the trial. Results show a statistically significant increase in the precision.

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Author information

Authors and Affiliations

  1. UMR 7222, ISIR, Sorbonne Universités UPMC Univ. Paris 06, Paris, France

    Marie-Aude Vitrani, David Reversat, Guillaume Morel & Pierre Mozer

  2. INSERM, U1150, Agathe-ISIR, 75005, Paris, France

    Marie-Aude Vitrani, David Reversat, Guillaume Morel & Pierre Mozer

  3. UMR 7222, ISIR, CNRS, 75005, Paris, France

    Marie-Aude Vitrani, David Reversat, Guillaume Morel & Pierre Mozer

  4. Urology Department, APHP Pitié Salpêtrière Hospital, Paris, France

    Pierre Mozer

  5. Koelis Inc., Grenoble, France

    Michael Baumann

  6. Laboratory of Techniques for Biomedical Engineering and Complexity Management Informatics, Mathematics and Applications, University Grenoble Alpes, Grenoble, France

    Alexandre Moreau-Gaudry

  7. Laboratory of Techniques for biomedical engineering and complexity management informatics, mathematics and applications, National Center for Scientific Research, Grenoble, France

    Alexandre Moreau-Gaudry

  8. Investigation Clinical Center 1406, National Institute of Health and Medical Research, Grenoble, France

    Alexandre Moreau-Gaudry

  9. Department of Public Health, Technological Innovation - Investigation Clinical Center, University Hospital, Grenoble, France

    Alexandre Moreau-Gaudry

Authors
  1. Marie-Aude Vitrani
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  2. Michael Baumann
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  3. David Reversat
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  4. Guillaume Morel
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  5. Alexandre Moreau-Gaudry
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  6. Pierre Mozer
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Corresponding author

Correspondence to Marie-Aude Vitrani.

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Conflict of interest

The authors declare that they have no conflict of interest.

Research involving human participants

The research protocol for a clinical trial was authorized by the sponsor of the clinical study (Grenoble University Hospital) and the relevant legal authorities through the reference PROSBOT-Apollo Biopsies assisted by comanipulated robot—Pilot Clinical trial, 2015; Acceptance number NCT02132975. This article does not contain any studies with animals performed by any of the authors.

Informed consent

Informed consent was obtained from all individual participants included in the study.

Additional information

This work was partly supported by the project PROSBOT funded by ANR, TECSAN 2011 program, under reference ANR-11-TECS-0017 and by French state funds managed by the ANR within the Investissements d’Avenir programme (Labex CAMI) under reference ANR-11-LABX-0004.

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Vitrani, MA., Baumann, M., Reversat, D. et al. Prostate biopsies assisted by comanipulated probe-holder: first in man. Int J CARS 11, 1153–1161 (2016). https://doi.org/10.1007/s11548-016-1399-y

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  • DOI: https://doi.org/10.1007/s11548-016-1399-y

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