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Pathology from trans-perineal template mapping biopsy (TTM can be used as labels to train prostate cancer classifiers. In this work, we propose a framework to register TTMB cores to advanced volumetric ultrasound data such as multi-parametric transrectal ultrasound (mpTRUS). The framework has mainly two steps. First, needle trajectories are calculated with respect to the needle guiding template-considering deflections in their paths. In standard TTMB, a sparsely sampled ultrasound volume is taken prior to the procedure which contains th
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