Table.

MR-US fusion devices approved by the US Food and Drug Administration. Reprinted with permission from Marks et al. [50]

Manufacturer/trade name	US image acquisition	Biopsy route	Tracking mechanism	Year of FDA approval	Comments
Philips/UroNav	Manual US sweep from base   to apex	Transrectal	External magnetic field   generator	2005	Prospective targeting,   integrated with existing   ultrasound device, freehand   manipulation
Eigen/Artemis	Manual rotation along fixed   axis	Transrectal	Mechanical arm with encoders	2008	Prospective targeting,   stabilized TRUS probe
Koelis/Urostation	Automatic US probe rotation,   3 different volumes   elastically registered	Transrectal	Real-time TRUS-TRUS   registration	2010	Retrospective targeting, real   time elastic registration
Hitachi/HI-RVS   (real-time virtual   sonography)	Real-time biplanar TRUS	Transrectal or   transperineal	External magnetic field   generator	2010	Prospective targeting,   integrated with existing   ultrasound device
BioJet/Jetsoft/   GeoScan	Manual US sweep in sagittal	Transrectal or   transperineal	Mechanical arm with   encoders; uses stepper	2012	Prospective targeting, rigid   registration