@inbook {1380, title = {Transrectal prostate biopsy inside closed MRI scanner with remote actuation, under real-time image guidance}, booktitle = {MEDICAL IMAGE COMPUTING AND COMPUTER-ASSISTED INTERVENTION-MICCAI 2002, PT 1}, year = {2002}, note = {UT: 000189412100012BE: Dohi, T: Kikinis, R 5th International Conference on Medical Image Computing and : Computer-Assisted Intervention SEP 25-28, 2002 TOKYO, JAPAN Z9: 26 WC: Computer Science, Theory \& Methods Hi{\'a}nyz{\'o} Besorol{\'a}s: {\textquoteright}Article; Proceedings Paper{\textquoteright},25,0 $\#$K{\"o}nyv Kiad{\'a}s helye ismeretlen }, month = {2002}, pages = {91 - 98}, publisher = {Springer Verlag}, organization = {Springer Verlag}, address = {Tokyo}, abstract = {We present the proof-of-concept prototype of a prostate biopsyrobot to be used inside a conventional high-field MRI scanner. A three degree-of-freedom (DOF) mechanical device translates and rotates inside the rectum and enters a needle into the body, and steers the needle to a target point pre-selected by the user. The device is guided by real-time images from the scanner. Networked computers process the medical images and enable the clinician to control the motion of the mechanical device that is operated remotely from outside the imager. The system is also applicable to localized prostate therapy and also demonstrates potential in other intra-cavitary procedures. } }