# US 8,788,019 B2 · System and method for performing a biopsy of a target volume and a computing device for planning the same

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- Number: US 8,788,019 B2
- Document ID: US8788019B2
- Status: Granted
- Kind: B2
- Application number: 11/885,177
- Filed: 2006-02-28
- Published: 2009-04-09
- Granted: 2014-07-22
- Earliest claimed: 2005-02-28
- Assignees: Robarts Research Institute
- Applicants: Donal Downey; Aaron Fenster
- Inventors: Donal Downey; Aaron Fenster
- Web page: https://patentgrep.com/patent/US8788019B2

## CPC

- A61B 8/4461: {Features of the scanning mechanism, e.g. for moving the transducer within the housing of the probe}
- A61B 8/0833: {involving detecting or locating foreign bodies or organic structures}
- A61B 8/12: in body cavities or body tracts, e.g. by using catheters
- A61B 8/4209: {by using holders, e.g. positioning frames}
- A61B 8/4254: {using sensors mounted on the probe}
- A61B 8/463: {characterised by displaying multiple images or images and diagnostic data on one display}
- A61B 8/483: {involving the acquisition of a 3D volume of data}
- A61B 17/3403: {Needle locating or guiding means}
- A61B 34/20: Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B 90/36: {Image-producing devices or illumination devices not otherwise provided for}
- A61B 10/02: Instruments for taking cell samples or for biopsy {(A61B10/0038 and A61B10/0045 take precedence; needle locating or guiding means A61B17/3403; samplers for enzymology or microbiology C12M1/26; sampling or preparing biological specimens G01N33/48)}
- A61B 10/0241: {for prostate}
- A61B 34/10: Computer-aided planning, simulation or modelling of surgical operations
- A61B 2017/00274: {Prostate operation, e.g. prostatectomy, turp, bhp treatment}
- A61B 2017/3411: {with a plurality of holes, e.g. holes in matrix arrangement}
- A61B 2017/3413: {guided by ultrasound}
- A61B 2018/00547: {Prostate}
- A61B 2034/105: {Modelling of the patient, e.g. for ligaments or bones}
- A61B 2034/107: {Visualisation of planned trajectories or target regions}
- A61B 2034/2051: {Electromagnetic tracking systems}
- A61B 2034/2055: {Optical tracking systems}
- A61B 2034/2065: {Tracking using image or pattern recognition}
- A61B 2090/364: {Correlation of different images or relation of image positions in respect to the body}
- A61B 2090/365: {augmented reality, i.e. correlating a live optical image with another image}
- A61B 2090/367: {creating a 3D dataset from 2D images using position information}
- A61B 2090/378: {using ultrasound}
- A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D)

## Abstract

A system and method for performing a biopsy of a target volume and a computing device for planning the same are provided. A three-dimensional ultrasound transducer captures ultrasound volume data from the target volume. A three-dimensional registration module registers the ultrasound volume data with supplementary volume data related to the target volume. A biopsy planning module processes the ultrasound volume data and the supplementary volume data in combination in order to develop a biopsy plan for the target volume. A biopsy needle biopsies the target volume in accordance with the biopsy plan.

## Claims

### Claim 1

A system for performing a prostate biopsy comprising:
a three-dimensional (3D) trans-rectal ultrasound transducer configured to generate 3D ultrasound image data of a target volume including said prostate;
a prostate segmentation module for identifying a segmented boundary of said prostate in said 3D ultrasound image data;
a three-dimensional registration module configured to register said 3D ultrasound image data with a prior acquired 3D image data of said prostate, wherein said prior acquired 3D image data includes previous core locations of biopsy cores registered to the prior acquired 3D image data, wherein said registration is based on at least one of
image intensity features of corresponding anatomical structures in said 3D ultrasound image data and said prior acquired 3D image data; and
segmented boundaries of said prostate in said 3D ultrasound image data and said prior acquired 3D image data;
a display for displaying said 3D ultrasound image data and said previous core locations of said prior acquired 3D image superimposed in the frame of reference of said prostate of said 3D ultrasound image data;
a biopsy planning module configured to process said 3D ultrasound image data and said previous core locations of said prior acquired 3D image data in combination in order to compute a biopsy plan for said prostate, said biopsy plan including one or more biopsy needle trajectories; and
a biopsy needle configured to biopsy said prostate in accordance with said computed biopsy plan and following said one or more biopsy needle trajectories.

### Claim 2 (depends on 1)

The system of claim 1, further comprising:
a cancer probability distribution module configured to generate a cancer probability distribution for said prostate.

### Claim 3 (depends on 2)

The system of claim 2, wherein said cancer probability distribution module generates said cancer probability distribution based on one or more parameters of a patient.

### Claim 4 (depends on 1)

The system of claim 1, wherein said prior acquired 3D image data comprises ultrasound image data captured prior to said biopsy.

### Claim 5 (depends on 1)

The system of claim 1, wherein said prior acquired 3D image data comprises a three-dimensional image captured using a modality different than ultrasound imaging.

### Claim 6 (depends on 5)

The system of claim 5, wherein said three-dimensional image is captured using single photon emission computerized tomography.

### Claim 7 (depends on 5)

The system of claim 5, wherein said three-dimensional image is captured using magnetic resonance spectroscopy.

### Claim 8 (depends on 5)

The system of claim 5, wherein said three-dimensional image is captured using positron emission tomography.

### Claim 9 (depends on 1)

The system of claim 1, wherein said 3D trans-rectal ultrasound transducer comprises an end-firing trans-rectal ultrasound probe and a computer including a three-dimensional reconstruction module, said three-dimensional registration module and said biopsy planning module, said three-dimensional reconstruction module configured to receive two-dimensional ultrasound image data of the target volume including the prostrate generated by the ultrasound probe and generate the 3D ultrasound image data therefrom.

### Claim 10

A method for performing a prostate biopsy, comprising:
acquiring ultrasound image data of a target volume including said prostate using a three-dimensional ultrasound transducer;
registering said ultrasound image data with prior acquired image data that includes previous core locations of previous biopsy cores registered to the prior acquired image data, wherein said registering is based on at least one of:
image intensity features of corresponding anatomical structures in said ultrasound image data and said prior acquired image data; and
segmented boundaries of said prostate in said ultrasound image data and said prior acquired image data;
processing said ultrasound image data and said prior acquired 3D image data in combination in order to compute a biopsy plan for said prostate, said biopsy plan including one or more biopsy needle trajectories; and
performing a biopsy using a biopsy needle in accordance with said computed biopsy plan and following said one or more biopsy needle trajectories.

### Claim 11 (depends on 10)

The method according to claim 10, further comprising:
presenting an image on a display based on said ultrasound image data and said previous biopsy cores of said prior acquired image data.

### Claim 12 (depends on 11)

The method of claim 11, wherein said presenting comprises presenting a multi-modality image.

### Claim 13 (depends on 10)

The method claim 10, further comprising:
receiving said prior acquired image data from another system.

### Claim 14 (depends on 10)

The method of claim 10,further comprising:
capturing said prior acquired image data using a modality different than ultrasound imaging.