Robotically-Assisted 3D Ultrasound-Guided High-Dose-Rate Prostate Brachytherapy

Conventional trans-rectal ultrasound-guided high-dose-rate prostate brachytherapy (HDR-BT) treatment planning requires a 3D image of the prostate reconstructed by manually stepping the probe in the superior/inferior direction while acquiring axial images using the transverse transducer. HDR-BT also requires imaging each needle tip at the time of insertion using the longitudinal transducer, oriented to capture each needle by manually rotating the probe about its long axis. Conventional manual probe manipulation is subject to three major limitations; 1) stepping the probe in the superior/inferior direction may introduce anatomical motion during imaging, 2) the 3D image produced using the transverse transducer has the lowest spatial resolution component in the needle insertion direction, and ...

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