Towards real‐time free‐hand biopsy navigation

Purpose Performing a transrectal ultrasound (TRUS) prostate biopsy is at the heart of current cancer detection procedure. With today's two-dimensional (2D) live (US) imaging equipment, this task remains complex due to poor visibility cancerous tissue on TRUS images and limited anatomical context available in 2D plane. This paper presents rigid 2D/3DUS registration method for navigated biopsy. allows continuous localization trajectory during Methods We proposed an organ-based approach achieve real-time without need any probe device. The combines image similarity geometric proximity detected features. Additions our previous work include multi-level use rejection rate favouring best matches. Their aim increase accuracy time performances. These modifications their in-depth evaluation real clinical cases comparison are described. performed static dynamic evaluations along trajectories very large amount data acquired under uncontrolled routine conditions. computed transforms compared ground truth obtained either from corresponding manually fiducials or already evaluated method. Results All results show that outperforms its version, both terms (the average error reported here 12 17% smaller depending experiment) processing (from 20 60 times faster implementation). experiment demonstrates can be successfully used tracking location w.r.t varies between 5 15 Hz. Conclusions shows fly efficiently trajectories. us plan further improvements navigation transfer.