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Robotic System for Transrectal Biopsy of the Prostate: Real-Time Guidance Under MRI

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10 Author(s)
Elhawary, H. ; Mech. Eng. Dept., Imperial Coll. London, London, UK ; Tse, Z.T.H. ; Rea, M. ; Zivanovic, A.
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In this paper, to harness the possibility of real-time guidance of MRI, a robotic system has been developed to perform transrectal prostate biopsy inside a 1.5-T closed bore scanner. A specially developed MR pulse sequence is capable of tracking the needle location in real time while dynamically updating the scan planes to always include the needle and target.

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Engineering in Medicine and Biology Magazine, IEEE  (Volume:29 ,  Issue: 2 )