Development and Phantom Validation of a 3-D-Ultrasound-Guided System for Targeting MRI-Visible Lesions During Transrectal Prostate Biopsy. - Yipeng Hu; Veeru Kasivisvanathan; Lucy A. M. Simmons; Matthew J. Clarkson; Stephen A. Thompson; Taimur T. Shah; Hashim Uddin Ahmed; Shonit Punwani; David J. Hawkes; Mark Emberton; Caroline M. Moore; Dean C. Barratt (IEEE Trans. Biomed. Eng., 2017)