A Tubular Dual-Roller Bending Mechanism Toward Robotic Transurethral Prostate Biopsy | IEEE Journals & Magazine | IEEE Xplore X. Xiao et al., "A Tubular Dual-Roller Bending Mechanism Toward Robotic Transurethral Prostate Biopsy," in IEEE/ASME Transactions on Mechatronics, vol. 26, no. 5, pp. 2483-2494, Oct. 2021, doi: 10.1109/TMECH.2020.3040749. Abstract: Prostate biopsy procedures as a gold standard for early screening of prostate cancer often suffer from multipass needle perforations to irrelevant perineal tissue, high complication risk, and time consumption. To address these challenges, this article proposes a transurethral prostate biopsy robot that can deliver a flexible biopsy needle inside the prostate from different angles and thus obtain tissue samples from multiple locations. Emphasis is on the design and validation of the transurethral prostate biopsy robot with a detailed introduction of the working principle, mechanism modeling, and function testing. Phantom ...