Haytham Elhawary, Zion Tsz-Ho Tse, Marc Rea, Alex Zivanovic, Brian L Davies, Colin Besant, Nandita M de Souza, Donald McRobbie, Ian Young, Michael U Lampérth
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Robotic system for transrectal biopsy of the prostate: real-time guidance under MRI.
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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