3D TRUS guided robot assisted prostate brachytherapy.
This paper describes a system for dynamic intraoperative prostate brachytherapy using 3D ultrasound guidance with robot assistance. The system consists of 3D transrectal ultrasound (TRUS) imaging, a robot and software for prostate segmentation, 3D dose planning, oblique needle segmentation and tracking, seed segmentation, and dynamic re-planning and verification. The needle targeting accuracy of the system was 0.79 mm +/- 0.32 mm in a phantom study.
Wei
Zhouping
Z
Imaging Research Laboratories, Robarts Research Institute, 100 Perth Drive, London, ON N6A 5K8, Canada. zwei@imaging.robarts.ca
Ding
Mingyue
M
Downey
Donal
D
Fenster
Aaron
A