{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,17]],"date-time":"2026-03-17T16:42:35Z","timestamp":1773765755795,"version":"3.50.1"},"reference-count":27,"publisher":"Wiley","issue":"4","license":[{"start":{"date-parts":[[2021,5,6]],"date-time":"2021-05-06T00:00:00Z","timestamp":1620259200000},"content-version":"vor","delay-in-days":0,"URL":"http:\/\/onlinelibrary.wiley.com\/termsAndConditions#vor"}],"content-domain":{"domain":["onlinelibrary.wiley.com"],"crossmark-restriction":true},"short-container-title":["Robotics Computer Surgery"],"published-print":{"date-parts":[[2021,8]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:sec><jats:title>Background<\/jats:title><jats:p>In the transrectal ultrasound (TRUS)\u2010guided transperineal prostate biopsy, doctors determine the biopsy target by observing the prostate region in TRUS images. However, ultrasound images with low imaging quality make doctors easy to be interfered when determining the biopsy route, which reduces the biopsy success rate.<\/jats:p><\/jats:sec><jats:sec><jats:title>Methods<\/jats:title><jats:p>This paper introduces the guidance method of magnetic resonance image (MRI) registration to ultrasound image and develops a 5\u2010degrees of freedom robot for prostate biopsy guided by MRI\u2010TRUS image. The robot uses a structure attached to the ultrasound probe to reduce the space occupied. By registering the posture relationship between MRI, TRUS image, ultrasonic probe and the robot base, the accurate localization of the suspected lesion area can be achieved with the preoperative MRIs.<\/jats:p><\/jats:sec><jats:sec><jats:title>Results<\/jats:title><jats:p>The prostate phantom biopsy based on the robotic biopsy system in this paper, the average biopsy error is 1.44 mm, and the maximum biopsy error is 2.23\u00a0mm.<\/jats:p><\/jats:sec><jats:sec><jats:title>Conclusions<\/jats:title><jats:p>We build a robotic biopsy platform with prostate phantom, and evaluate the biopsy accuracy of MRI\u2010TRUS guided prostate biopsy robot, the results meet clinical prostate biopsy requirements.<\/jats:p><\/jats:sec>","DOI":"10.1002\/rcs.2266","type":"journal-article","created":{"date-parts":[[2021,4,22]],"date-time":"2021-04-22T23:50:33Z","timestamp":1619135433000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":13,"title":["Development of a transperineal prostate biopsy robot guided by MRI\u2010TRUS image"],"prefix":"10.1002","volume":"17","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-7677-5150","authenticated-orcid":false,"given":"Weirong","family":"Wang","sequence":"first","affiliation":[{"name":"State Key Laboratory of Robotics and System Harbin Institute of Technology  Harbin Heilongjiang China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Bo","family":"Pan","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Robotics and System Harbin Institute of Technology  Harbin Heilongjiang China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yili","family":"Fu","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Robotics and System Harbin Institute of Technology  Harbin Heilongjiang China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yanjie","family":"Liu","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Robotics and System Harbin Institute of Technology  Harbin Heilongjiang China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"311","published-online":{"date-parts":[[2021,5,6]]},"reference":[{"key":"e_1_2_9_2_1","doi-asserted-by":"publisher","DOI":"10.1002\/cncr.32733"},{"key":"e_1_2_9_3_1","doi-asserted-by":"publisher","DOI":"10.1067\/mda.2001.119016"},{"issue":"008","key":"e_1_2_9_4_1","first-page":"657","article-title":"Current status and future focus on diagnosis of prostate cancer","volume":"29","author":"Liang C","year":"2014","journal-title":"J Clin Urol"},{"key":"e_1_2_9_5_1","doi-asserted-by":"publisher","DOI":"10.1016\/S0090-4295(02)02551-7"},{"key":"e_1_2_9_6_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.eururo.2007.02.062"},{"issue":"1","key":"e_1_2_9_7_1","first-page":"29","article-title":"The optimal route for prostate biopsy: through transperineal or transrectal?","volume":"22","author":"Guo L","year":"2016","journal-title":"J Chin Oncol"},{"key":"e_1_2_9_8_1","doi-asserted-by":"publisher","DOI":"10.1016\/S0022-5347(17)38664-0"},{"key":"e_1_2_9_9_1","doi-asserted-by":"publisher","DOI":"10.1142\/S2424905X19500016"},{"key":"e_1_2_9_10_1","doi-asserted-by":"publisher","DOI":"10.1109\/TBME.2004.840497"},{"key":"e_1_2_9_11_1","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2013.2279775"},{"key":"e_1_2_9_12_1","first-page":"7429","article-title":"Dynamic intraoperative prostate brachytherapy using 3D TRUS guidance with robot assistance","volume":"2005","author":"Wei Z","year":"2005","journal-title":"Conf Proc IEEE Eng Med Biol Soc"},{"key":"e_1_2_9_13_1","unstructured":"PheeL XiaoD YuenJSP et\u00a0al. Ultrasound guided robotic system for transperineal biopsy of the prostate.International Conference on Robotics and Automation;2005:1315\u20101320."},{"key":"e_1_2_9_14_1","doi-asserted-by":"publisher","DOI":"10.1111\/j.1464-410X.2012.11503.x"},{"key":"e_1_2_9_15_1","doi-asserted-by":"publisher","DOI":"10.1089\/end.2015.0027"},{"key":"e_1_2_9_16_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.juro.2011.10.124"},{"key":"e_1_2_9_17_1","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4471-4348-2_29"},{"issue":"5","key":"e_1_2_9_18_1","first-page":"480","article-title":"Anatomic study on the local drug injection through rectum to treat chronic prostatitis and its clinical application","volume":"21","author":"Cheng J","year":"2003","journal-title":"Chin J Clin Anat"},{"key":"e_1_2_9_19_1","first-page":"301","volume-title":"Practical Abdominal Ultrasound Diagnosis","author":"Cao H","year":"2006"},{"key":"e_1_2_9_20_1","doi-asserted-by":"crossref","unstructured":"FischerGS IordachitaI DimaioSP et\u00a0al. 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