A Simulation Platform for Prostate Brachytherapy Training: Integrating Haptic Feedback, Eye tracking, and Real-Time Ultrasound Imaging

This study presents a novel training platform for prostate BT that enables users to perform mechanical motions that closely replicate real-world procedures, generates virtual ultrasound (US) images similar to actual US scans, and accurately assesses expertise levels. The platform comprises: (i) a haptic feedback Touch device from 3D Systems, Inc., which provides tactile feedback during needle insertion into the prostate; (ii) two cameras—a top-view camera for hand tracking and a front-facing camera for eye tracking; and (iii) simulated US imaging that visualizes needle advancement within a prostate model. Experimental results validate the system’s capability to track needle positioning, operator hand movements, and create simulated US imaging of prostate morphology and needle trajectory while simultaneously the operators’ eyes during the procedure. During needle insertion trials, maximum average needle insertion force was recorded at about 8.96 ± 1.31N and 5.63± 0.131N within the perineum and prostate, respectively. The average insertion speed for needle insertion was 5.25 ± 3.73 mm/s outside the prostate and 8.32 mm/s² inside the prostate. The max insertion speed was 28.63 ± 1.43 mm/s to a depth of 280 mm within the prostate. The findings align closely with values reported in the literature, validating the system’s accuracy and reliability.