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Figure 3: MRI-Ultrasound Fusion Targeted Prostate Biopsy. The images are snapshot pictures of the UroNav® urologist user workstation during an MRI-Ultrasound fusion prostate biopsy. MRI region of interest is outlined in a radiology workstation (DynaCAD®) and imported into an MRI-Ultrasound fusion machine. The targeting system connects the biopsy needle location in space relative to the region of interest and a needle core is then obtained. The upper left panel is the real-time ultrasound image. The green outline is the region of interest and the bullseye is the center of that lesion. The yellow line represents the biopsy needle path. The lower left panel is the corresponding MRI image obtained prior to the biopsy. The ultrasound and MRI images are aligned through a series of segmentation, alignment, and rotational adjustments. The upper right panel is the MRI in the sagittal view with the corresponding region of interest (blue circle) and biopsy core (yellow line). The lower right panel is a 3D representation of the prostate. The pink line represents the plane of view and in this case, there was a total of three 3D target lesions (green) structures within the 3-D prostate (pink) image. 

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