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Low dose rate prostate brachytherapy involves the permanent implant of radioactive sources into the prostate region using needles. We present a four-degree-of-freedom robot for prostate brachytherapy. The robot can translate a needle guide in the X-Y plane allowing for precise needle insertion along the Z direction. It can also rotate the guide about the X(More)
In this paper, vibro-elastography (VE), an ultrasound-based method that creates images of tissue viscoelasticity contrast, is evaluated as an imaging modality to visualize and segment the prostate. We report a clinical study to characterize the visibility of the prostate in VE images and the ability to detect the boundary of the gland. Measures for(More)
This paper presents a new algorithm for the semi-automatic segmentation of the prostate from B-mode trans-rectal ultrasound (TRUS) images. The segmentation algorithm first uses image warping to make the prostate shape elliptical. Measurement points along the prostate boundary, obtained from an edge-detector, are then used to find the best elliptical fit to(More)
In this paper we report and characterize a semi-automatic prostate segmentation method for prostate brachytherapy. Based on anatomical evidence and requirements of the treatment procedure, a warped and tapered ellipsoid was found suitable as the a-priori 3D shape of the prostate. By transforming the acquired endorectal transverse images of the prostate into(More)
This paper presents a needle-tissue interaction model that is a 3D extension of a prior work based on the finite element method. The model is also adapted to accommodate arbitrary meshes so that the anatomy can effectively be meshed using third-party algorithms. Using this model a prostate brachytherapy simulator is designed to help medical residents(More)
In this paper, a novel computer-based virtual training system for prostate brachytherapy is presented. This system incorporates, in a novel way, prior methodologies of ultrasound image synthesis and haptic transrectal ultrasound (TRUS) transducer interaction in a complete simulator that allows a trainee to maneuver the needle and the TRUS, to see the(More)
We present an ultrasound vibro-elastography system designed to acquire viscoelastic properties of the prostate and peri-prostatic tissue. An excitation stage imparts low-frequency (<20 Hz), limited amplitude (< +/- 2 mm), broadband vibratory motion to an endorectal transducer, along a radial/transversal direction. The induced tissue motion is estimated from(More)
A means of achieving real-time dosimetry for prostate brachytherapy using transrectal ultrasound (TRUS) and fluoroscopy has been developed. The approach is designed to fit into the current protocol used at the Vancouver Cancer Center (VCC) for prostate brachytherapy. The TRUS and fluoroscopic images are fused using a single fluoroscopic image of the TRUS(More)
We show that vibro-elastography, an ultrasound-based method that creates images of tissue viscoelasticity contrast, can be used for visualization and segmentation of the prostate. We use MRI as the gold standard and show that VE images yield more accurate 3D volumes of the prostate gland than conventional B-mode imaging. Furthermore, we propose two novel(More)
PURPOSE Accurate localization of prostate implants from several C-arm images is necessary for ultrasound-fluoroscopy fusion and intraoperative dosimetry. The authors propose a computational motion compensation method for tomosynthesis-based reconstruction that enables 3D localization of prostate implants from C-arm images despite C-arm oscillation and(More)