Software design of transperineal prostate needle biopsy robot

This paper focuses on introducing the software design of a robotic system for accurate and consistent insertion of a percutaneous biopsy needle into the prostate guided by transrectal ultrasound images. A set of software modules in the main computer system is designed to guide the urologist to control the biopsy robot and biopsy process. This system functionally undertakes the control of image acquisition, interaction with the urologist for prostate boundary delineation, puncture point planning and biopsy point definition on 2D image (ultrasound) slices. 3D visualization of the prostate surface, needle, biopsy point and needle trajectory is also performed by the software. The system calculates the required parameters of the needle's trajectory and guides the urologist in maneuvering the robot to perform the biopsy. System performance and experimental results are presented at the end.