Table 2.
Types of robots currently available. Google® search.
| Fusion Biopsy System (Manufacturer) |
Ultrasound Image Acquisition | Ultrasound Tracking Mechanism |
Fusion Method |
Biopsy Route |
|---|---|---|---|---|
| Artemis (Eigen, Inc., Grass Valley, CA, USA) | Manual rotation along a fixed axis (ultrasound probe on a tracking arm). |
Mechanical arm with encoded joints. | Rigid/Elastic | TP/TR |
| BioJet (D&K Technologies, Inc., Barum, Germany) | Real-time biplanar TRUS and 3D model of the prostate mounted on a positioning system. | Stepper with 2 built-in encoders. | Rigid/Elastic | TP/TR |
| Biopsee (MedCom, Inc., Darmstadt, Germany ) |
Custom-made biplane TRUS probe mounted on a stepper. | Stepper with 2 built-in encoders. | Rigid/Elastic | TP/TR |
| HI RVS/Real-time Virtual Sonography (Hitachi, Inc., Tokio, Japan) | Real-time biplanar TRUS. | Electromagnetic tracking. | Rigid | TP/TR |
| UroNav (In Vivo/Philips, Inc., Cambridge, MA, USA) |
Manual ultrasound 2D sweep. Freehand manipulation of ultrasound probe or mounted on a stepper. | Electromagnetic tracking ultrasound. |
Rigid/Elastic | TP/TR |
| Urostation (Koelis, Inc., Meylan, France) | Automatic ultrasound probe rotation, three different volumes elastically registered. | Image-based registration. | Elastic | TP/TR |
| iSR’obot Mona Lisa (Biobot Surgical, Inc., Singapore) |
Motorized translation. | Robotic arm. | Elastic | TP |
| MIM Symphonyx Bx (BK, Inc., Seoul, South Korea) | Motorized translation. | Encoder. | Rigid | TP/TR |
| Virtual Navigator (Esaote, Inc., Genova, Italy) |
Manual ultrasound sweep. Freehand rotation of ultrasound probe. |
Electromagnetic tracking ultrasound and needle. |
Rigid | TP/TR |
| Aplio i800 (Canon Medical Systems, Inc., Crawley, UK) | Freehand sweep. | Fusion Imaging of live US/MRI guidance for targeted biopsy. | Rigid | TP/TR |
| Logiq (GE, Inc., Boston, MA, USA) | Freehand sweep. | Fusion Imaging of live US/MRI guidance for targeted biopsy. | Rigid | TP/TR |