“…This is employed by devices such as UroNav ® , Real-Time Virtual Sonography (RVS) (Hitachi, Tokyo, Japan), Virtual Navigator ® (Esaote, Florence, Italy), and BK Fusion ® (Analogic, Peabody, MA, USA) (20,(22)(23)(24)(25). Alternatively, the Artemis System ® (Eigen, Grass Valley, CA, USA), Biojet ® (DK Technologies, Barum, Germany), Fusion Bx (Focal Healthcare, Toronto, Canada) and Biopsee ® (Oncology Systems Limited, Shropshire, England) use a different registration technique that incorporates a mechanical arm with encoded joints attached to the ultrasound probe to report movement and feedback to the system (20,(26)(27)(28)(29). One last modality to register location is realtime ultrasound feedback which uses the initial ultrasound scan to re-create the prostate 3D model and track the needle based solely on ultrasound images (20,28).…”