Abstract
MRI-guided prostate needle biopsy requires compensation for organ motion between target planning and needle placement. We propose slice-to-volume registration algorithms for tracking the prostate motion. Three orthogonal intra-operative slices are acquired in the approximate center of the prostate and registered with a high-resolution target planning volume. Both rigid and deformable scenarios were implemented. MRI-guided robotic prostate biopsy cases were analyzed retrospectively. Average registration errors were 2.55mm for the rigid algorithm and 2.05mm for the deformable algorithm. Slice-based tracking appears to be promising. Deformable registration does not seem warranted.
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