tracking coils, named ‘trackers’, that are embedded in the four corners of the transducer’s housing. The
signal acquired by the four trackers is analyzed to define the position of the transducer in the MR
coordinates.
1.4.2.5. Robotic Motion Unit
The transducer has two mechanical degrees of automatic motion: linear motion of 50mm along the
horizontal (S/I) axis and angular motion of ±40 degrees around the roll (Axial) axis, enabling access to whole
desired treatment volume in the prostate gland. The automatic motion is achieved by a motion unit (Figure
1-3, C), attached to the prostate positioner on one end and to the probe on the other end. The motion
system consists of piezoelectric motors activating the two degrees of freedom of the mechanical motion
described above.
1.4.2.6. Probe Preparation Station
During the system preparation stage, the probe must be secured to avoid the hazard of its being damaged
or broken. In addition, the degassing process is more efficient when the probe is vertical, facing down, as
the tube opening is adjacent to the probe’s neck and this way the air bubbles go up to it. For those
purposes, the system includes a probe holder, as seen in Figure 1-5.
Figure 1-5: Probe in Preparation Station
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