{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,8,29]],"date-time":"2026-08-29T16:07:43Z","timestamp":1788019663115,"version":"build-2784847793"},"reference-count":25,"publisher":"Wiley","issue":"5","license":[{"start":{"date-parts":[[2021,3,24]],"date-time":"2021-03-24T00:00:00Z","timestamp":1616544000000},"content-version":"vor","delay-in-days":0,"URL":"http:\/\/onlinelibrary.wiley.com\/termsAndConditions#vor"}],"funder":[{"DOI":"10.13039\/100000002","name":"National Institutes of Health","doi-asserted-by":"publisher","award":["R01EB020667"],"award-info":[{"award-number":["R01EB020667"]}],"id":[{"id":"10.13039\/100000002","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/100000002","name":"National Institutes of Health","doi-asserted-by":"publisher","award":["R01CA235134"],"award-info":[{"award-number":["R01CA235134"]}],"id":[{"id":"10.13039\/100000002","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/100000002","name":"National Institutes of Health","doi-asserted-by":"publisher","award":["P41EB028741"],"award-info":[{"award-number":["P41EB028741"]}],"id":[{"id":"10.13039\/100000002","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["aapm.onlinelibrary.wiley.com"],"crossmark-restriction":true},"short-container-title":["Medical Physics"],"published-print":{"date-parts":[[2021,5]]},"abstract":"<jats:sec><jats:title>Purpose<\/jats:title><jats:p>Magnetic resonance imaging (MRI)\u2010guided transperineal prostate biopsy has been practiced since the early 2000s. The technique often suffers from targeting error due to deviation of the needle as a result of physical interaction between the needle and inhomogeneous tissues. Existing needle guide devices, such as a grid template, do not allow choosing an alternative insertion path to mitigate the deviation because of their limited degree\u2010of\u2010freedom (DoF). This study evaluates how an angulated needle insertion path can reduce needle deviation and improve needle placement accuracy.<\/jats:p><\/jats:sec><jats:sec><jats:title>Methods<\/jats:title><jats:p>We extended a robotic needle\u2010guidance device (Smart Template) for in\u2010bore MRI\u2010guided transperineal prostate biopsy. The new Smart Template has a 4\u2010DoF needle\u2010guiding mechanism allowing a translational range of motion of 65 and 58\u00a0mm along the vertical and horizontal axis, and a needle rotational motion around the vertical and horizontal axis <jats:inline-graphic xmlns:xlink=\"http:\/\/www.w3.org\/1999\/xlink\" xlink:href=\"graphic\/mp14816-math-0001.png\" xlink:title=\"urn:x-wiley:00942405:media:mp14816:mp14816-math-0001\"\/> and a vertical rotational range of <jats:inline-graphic xmlns:xlink=\"http:\/\/www.w3.org\/1999\/xlink\" xlink:href=\"graphic\/mp14816-math-0002.png\" xlink:title=\"urn:x-wiley:00942405:media:mp14816:mp14816-math-0002\"\/>, respectively. We defined a path planning strategy, which chooses between straight and angulated insertion paths depending on the anatomical structures on the potential insertion path. We performed (a) a set of experiments to evaluate the device positioning accuracy outside the MR\u2010bore, and (b) an <jats:italic>in vivo<\/jats:italic> experiment to evaluate the improvement of targeting accuracy combining straight and angulated insertions in animal models (swine, <jats:inline-graphic xmlns:xlink=\"http:\/\/www.w3.org\/1999\/xlink\" xlink:href=\"graphic\/mp14816-math-0003.png\" xlink:title=\"urn:x-wiley:00942405:media:mp14816:mp14816-math-0003\"\/>).<\/jats:p><\/jats:sec><jats:sec><jats:title>Results<\/jats:title><jats:p>We analyzed 46 <jats:italic>in vivo<\/jats:italic> insertions using either straight or angulated insertions paths. The experiment showed that the proposed strategy of selecting straight or angulated insertions based on the subject\u2019s anatomy outperformed the conventional approach of just straight insertions in terms of targeting accuracy (2.4\u00a0mm [1.3\u20133.7] vs 3.9\u00a0mm [2.4\u20135.0] {Median <jats:inline-graphic xmlns:xlink=\"http:\/\/www.w3.org\/1999\/xlink\" xlink:href=\"graphic\/mp14816-math-0004.png\" xlink:title=\"urn:x-wiley:00942405:media:mp14816:mp14816-math-0004\"\/>); <jats:italic>p<\/jats:italic>\u00a0=\u00a00.041 after the bias correction).<\/jats:p><\/jats:sec><jats:sec><jats:title>Conclusion<\/jats:title><jats:p>The <jats:italic>in vivo<\/jats:italic> experiment successfully demonstrated that an angulated needle insertion path could improve needle placement accuracy with a path planning strategy that takes account of the subject\u2010specific anatomical structures.<\/jats:p><\/jats:sec>","DOI":"10.1002\/mp.14816","type":"journal-article","created":{"date-parts":[[2021,3,2]],"date-time":"2021-03-02T16:33:08Z","timestamp":1614702788000},"page":"2553-2565","update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":16,"title":["In vivo evaluation of angulated needle\u2010guide template for MRI\u2010guided transperineal prostate biopsy"],"prefix":"10.1002","volume":"48","author":[{"given":"Pedro","family":"Moreira","sequence":"first","affiliation":[{"name":"Department of Radiology Brigham and Women\u2019s Hospital and Harvard Medical School 75 Francis St. Boston MA USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"John","family":"Grimble","sequence":"additional","affiliation":[{"name":"Physical Sciences Inc. 20 New England Bus Center Dr Andover MA USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Nicusor","family":"Iftimia","sequence":"additional","affiliation":[{"name":"Physical Sciences Inc. 20 New England Bus Center Dr Andover MA USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Camden P","family":"Bay","sequence":"additional","affiliation":[{"name":"Department of Radiology Brigham and Women\u2019s Hospital and Harvard Medical School 75 Francis St. Boston MA USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Kemal","family":"Tuncali","sequence":"additional","affiliation":[{"name":"Department of Radiology Brigham and Women\u2019s Hospital and Harvard Medical School 75 Francis St. Boston MA USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jesung","family":"Park","sequence":"additional","affiliation":[{"name":"Physical Sciences Inc. 20 New England Bus Center Dr Andover MA USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Junichi","family":"Tokuda","sequence":"additional","affiliation":[{"name":"Department of Radiology Brigham and Women\u2019s Hospital and Harvard Medical School 75 Francis St. Boston MA USA"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"311","published-online":{"date-parts":[[2021,3,24]]},"reference":[{"key":"e_1_2_9_2_1","doi-asserted-by":"publisher","DOI":"10.3322\/caac.21590"},{"key":"e_1_2_9_3_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.urolonc.2014.09.013"},{"key":"e_1_2_9_4_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.eururo.2015.08.038"},{"key":"e_1_2_9_5_1","doi-asserted-by":"publisher","DOI":"10.2214\/AJR.13.11046"},{"key":"e_1_2_9_6_1","doi-asserted-by":"publisher","DOI":"10.1056\/NEJMoa1801993"},{"key":"e_1_2_9_7_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.eururo.2012.12.057"},{"key":"e_1_2_9_8_1","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2013.2279775"},{"key":"e_1_2_9_9_1","doi-asserted-by":"publisher","DOI":"10.1007\/s00330-011-2259-3"},{"key":"e_1_2_9_10_1","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2011.2163523"},{"key":"e_1_2_9_11_1","doi-asserted-by":"publisher","DOI":"10.1017\/S026357470999066X"},{"key":"e_1_2_9_12_1","doi-asserted-by":"publisher","DOI":"10.1088\/0031-9155\/55\/5\/N02"},{"key":"e_1_2_9_13_1","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2014.2359413"},{"key":"e_1_2_9_14_1","doi-asserted-by":"publisher","DOI":"10.1142\/S2424905X17500064"},{"key":"e_1_2_9_15_1","doi-asserted-by":"publisher","DOI":"10.1148\/radiol.11101559"},{"key":"e_1_2_9_16_1","doi-asserted-by":"publisher","DOI":"10.1007\/s00330-004-2458-2"},{"key":"e_1_2_9_17_1","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2016.2618362"},{"key":"e_1_2_9_18_1","doi-asserted-by":"publisher","DOI":"10.1002\/jmri.24770"},{"key":"e_1_2_9_19_1","doi-asserted-by":"publisher","DOI":"10.1088\/1361-6560\/aae214"},{"key":"e_1_2_9_20_1","doi-asserted-by":"publisher","DOI":"10.1109\/TBME.2013.2240301"},{"key":"e_1_2_9_21_1","doi-asserted-by":"publisher","DOI":"10.1148\/radiol.14140221"},{"key":"e_1_2_9_22_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.compmedimag.2009.07.004"},{"key":"e_1_2_9_23_1","doi-asserted-by":"publisher","DOI":"10.1002\/rcs.274"},{"key":"e_1_2_9_24_1","doi-asserted-by":"publisher","DOI":"10.1007\/s11548-017-1618-1"},{"key":"e_1_2_9_25_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.mri.2012.05.001"},{"key":"e_1_2_9_26_1","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2012.2230991"}],"container-title":["Medical Physics"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/pdf\/10.1002\/mp.14816","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/full-xml\/10.1002\/mp.14816","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/aapm.onlinelibrary.wiley.com\/doi\/pdf\/10.1002\/mp.14816","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2023,9,1]],"date-time":"2023-09-01T12:31:56Z","timestamp":1693571516000},"score":1,"resource":{"primary":{"URL":"https:\/\/aapm.onlinelibrary.wiley.com\/doi\/10.1002\/mp.14816"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2021,3,24]]},"references-count":25,"journal-issue":{"issue":"5","published-print":{"date-parts":[[2021,5]]}},"alternative-id":["10.1002\/mp.14816"],"URL":"https:\/\/doi.org\/10.1002\/mp.14816","archive":["Portico"],"relation":{},"ISSN":["0094-2405","2473-4209"],"issn-type":[{"value":"0094-2405","type":"print"},{"value":"2473-4209","type":"electronic"}],"subject":[],"published":{"date-parts":[[2021,3,24]]},"assertion":[{"value":"2020-07-03","order":0,"name":"received","label":"Received","group":{"name":"publication_history","label":"Publication History"}},{"value":"2021-02-10","order":1,"name":"accepted","label":"Accepted","group":{"name":"publication_history","label":"Publication History"}},{"value":"2021-03-24","order":2,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}]}}