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\begin{document}

\title{Electromagnetic Planning, Guidance and Feedback System Retrofitted to
Prostate Biopsy Equipment and Validation}



\author[1]{Alejo Ballester}%
\author[1]{Christopher Samouce}%
\author[1]{Tomas Esteverena}%
\author[1]{Sebastian Sarmiento}%
\author[1]{Chong Zhao}%
\author[1]{David Lizdas}%
\author[1]{Thomas Stringer}%
\author[1]{Samsun Lampotang}%
\affil[1]{Affiliation not available}%


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  \date{June 13, 2024}


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\begin{abstract}
\emph{Objective:} Design refinement and validation with simulated
physical prostates of a planning, guidance, and feedback system for
visualizing prostate biopsy in 3D perspective. \emph{Methods:} A
visualized prostate biopsy system (vPBx) using electromagnetic~ tracking
of a transrectal ultrasound (TRUS) probe, a biopsy device, and a urinary
catheter placed inside the patient's prostate was refined and integrated
as a reversible retrofit to a Flex Focus 400 ultrasound machine (BK
Medical). The system was verified using simulated physical prostates
with 12 0.065 ml (2.5 mm radius) spheres, arranged in a double sextant
template, registered to a virtual model of the prostate and used to
distinguish hits and misses. Systematic prostate biopsy (sPBx) was
performed on simulated prostates using the vPBx as a retrofit to the
TRUS machine. \emph{Results:} The vPBx system enabled an inexperienced
user to sample the sPBx template locations with a template deviation
below 2.5 mm. \emph{Conclusion:} An electromagnetic guidance system was
refined, retrofitted with a Flex Focus 400 machine and a side-cut biopsy
device (Max-Core Disposable Core Biopsy Instrument; Bard) and
successfully validated with simulated physical prostates.
\emph{Significance:} If validated with patients, the vPBx system has the
potential to reduce prostate biopsy false negatives, which may lead to
earlier diagnosis of clinically significant prostate cancer and improved
10-year mortality in high risk prostate cancer patients.%
\end{abstract}%



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