Prostate biopsy is a definitive method of prostate cancer diagnosis and is critical for cancer staging and treatment planning, and requires image guidance to ensure targeting accuracy. Transrectal ultrasound (TRUS) imaging, the current standard imaging modality for guiding prostate biopsies, suffers from 20% cancer miss rate. Magnetic Resonance Image (MRI) guidance during prostate biopsy, if employed properly, can improve targeting accuracy because of superior soft-tissue contrast and volumetric imaging capabilities. For proper MRI-guidance, prostate motion between target planning and needle...