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Fig. 3 | European Radiology Experimental

Fig. 3

From: Developing and testing a robotic MRI/CT fusion biopsy technique using a purpose-built interventional phantom

Fig. 3

a Coronal/birds-eye on T2-weighted turbo spin-echo images with numbered targets. b Phantom on the CT table next to the robot. c Aligned phantom, fixed with adhesive putty. d MRI/CT-fusion and needle path planning using robot workstation. e Workstation screenshot showing CT (left), fused MR/CT (middle), and MRI (right) reference points. f Robot and inserted co-axial needle. g Radiologist performing a biopsy. h Robot workstation showing planned (left), actual (right), and fused (planned and actual, middle) needle paths. i Biopsy core with target (black) and non-target surround (very pale yellow); core length and target length are being measured. CT Computed tomography, MRI Magnetic resonance imaging

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