Table 1.
Imaging protocol with sequence specifications. Volumetric images were utilized to identify anatomical landmarks used to quantify target displacement. * The initial two volumetric images (2/13) were gradient echo sequences (first 2 procedures using the robotic technique)
| Sequence | TR/TE/FA ms/ms/degrees | Resolution (mm) | Acquisition time (minutes) |
|---|---|---|---|
| Diagnostic multi-parametric image sequences | |||
| DWI, b-values: 50, 500, and 800 s/mm2. | 2300–2500/61–64 | 2.0 × 2.0 × 4.0 | 3:08 |
| Transversal, sagittal and coronal T2-w turbo spin echo | 4480–4950/103–110/120 | 0.6 × 0.6 × 3.0 | 3:22–4:43 |
| DCE-MRI 3D T1-w spoiled gradient-echo | 32/1.47/10 | 1.8 × 1.8 × 4.0 | 2:43 |
| Image sequences during biopsy procedure | |||
| DWI, b-values: 0, 100, 500 and 800 s/mm2. | 2000/67 | 1.8 × 1.8 × 4.0 | 2:06 |
| T2-w turbo spin echo | 3620/103/120 | 0.8 × 0.8 × 4.0 | 3:26 |
| Transversal and sagittal TRUFI image (manual technique) | 4.48/2.24/70 | 1.1 × 1.1 × 3.0 | 7.5 and 8.9 s |
| Transversal, sagittal and coronal TRUFI image (robotic technique) | 894/2.3/60 | 1.6 × 1.6 × 5.0 | 0.9 s/slice |
| T1-w 3D volumetric gradient echo* | 4.5/2.2/43 | 1.0 × 1.0 × 1.0 | 2:20 |
| T2-w 3D volumetric spin echo | 1000/102/100 | 1.0 × 1.0 × 1.0 | 2:36 |