Robotic assistance for ultrasound guided prostate brachytherapy

Gabor Fichtinger, Jonathan Fiene, Christopher W. Kennedy, Gernot Kronreif, Iulian Iordachita, Danny Y. Song, E. Clif Burdette, Peter Kazanzides

Research output: Chapter in Book/Report/Conference proceedingConference contribution

19 Scopus citations


We present a robotically assisted prostate brachytherapy system and test results in training phantoms. The system consists of a transrectal ultrasound (TRUS) and a spatially co-registered robot integrated with an FDA-approved commercial treatment planning system. The salient feature of the system is a small parallel robot affixed to the mounting posts of the template. The robot replaces the template interchangeably and uses the same coordinate system. Established clinical hardware, workflow and calibration are left intact. In these experiments, we recorded the first insertion attempt without adjustment. All clinically relevant locations were reached. Non-parallel needle trajectories were achieved. The pre-insertion transverse and rotational errors (measured with Polaris optical tracker relative to the template's coordinate frame) were 0.25mm (STD=0.17mm) and 0.75° (STD=0.37°). The needle tip placement errors measured in TRUS were 1.04mm (STD=0.50mm). The system is in Phase-I clinical feasibility and safety trials, under Institutional Review Board approval.

Original languageEnglish (US)
Title of host publicationMedical Image Computing and Computer-Assisted Intervention - 10th International Conference, Proceedings
PublisherSpringer Verlag
Number of pages9
EditionPART 1
ISBN (Print)9783540757566
StatePublished - 2007
Event10th International Conference on Medical Image Computing and Computer-Assisted Intervention, MICCAI 2007 - Brisbane, Australia
Duration: Oct 29 2007Nov 2 2007

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
NumberPART 1
Volume4791 LNCS
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349


Other10th International Conference on Medical Image Computing and Computer-Assisted Intervention, MICCAI 2007

ASJC Scopus subject areas

  • Theoretical Computer Science
  • Computer Science(all)


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