Figure 5:

Trajectories of the biopsy needle during MRI-guided transperineal prostate biopsy were reconstructed from intraprocedural MRI and rendered in three different view angles (A-C). The renderings also show relevant anatomical structures including the pelvis, the prostate, the pelvic diaphragm, and the bulbospongiosus. Although all three trajectories were aimed at the same target with the same needle guide position, the insertion trajectory that penetrates the pelvic diaphragm (blue trajectory) was deviated laterally from the other two trajectories. The other two trajectories (green trajectory) pass through the urethral canal.