Keywords: Interventional Devices, ProstateMR-guided focal cryoablation of prostate cancer has often been selected as a minimally-invasive treatment option. Placing multiple cryo-needles accurately to form an ablation volume that adequately covers the target volume is crucial for a better oncological/functional outcome. This work presents an MRI-compatible system combining a motorized template grid and insertion depth sensing, which allows the physician to precisely place the cryo-needles into the desired location. Our preliminary results demonstrate the advantages of adding additional degrees of freedom to the template and providing the physician with real-time feedback on the insertion depth.
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