01116nas a2200109   4500008004100000245011200041210006900153260003300222300001200255520069800267856004100965       2002                        eng d00aTransrectal prostate biopsy inside closed MRI scanner with remote actuation, under real-time image guidance0 aTransrectal prostate biopsy inside closed MRI scanner with remot  aTokyobSpringer Verlagc2002  a91 - 983 aWe 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.
  uhttps://inf.u-szeged.hu/en/node/1380