Deformable shape-based registration for MR-compatible robotically assisted prostate interventions
Prostate cancer is the second most cancer related death in men, accounting for over 111 M$ yearly in Canada. Current prostate biopsy or therapy procedures such as transperineal brachytherapy use transrectal ultrasound guidance and a template to guide needles along parallel trajectories. However, pubic arch interference (PAI) with the implant path obstructs part of the prostate from being targeted by the brachytherapy or laser ablation needles. Image-guided robotized surgical interventions, and in particular MRI-guided, can solve these problems by combining high precision robotics with high-resolution and accurate imaging, leading to targeted biopsies and focal therapies that will enable simpler treatments with lower side effects. This project undertaken by a PhD intern will propose novel tools in medical image processing which will be integrated into an FDA approved navigation platform for the robotic needle steering device developed by Polymer Robotics. The tools include prostate segmentation and intra-operative deformable registration techniques. These features will assist physicians to prepare a pre-procedural plan prior to an intervention, which can be easily integrated in the intra-procedural workflow. This will provide radiologists with a direct impression of the 3D anatomy to reach targets with high precision, ultimately yielding increased cancer detection rates.