Ultrasound Imaging System and Methods Of Imaging Using the Same
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[0042] The method of registering the position of an object such as a needle provides for the near real-time identification, segmentation and tracking of needles. It has a wide range of applications, such as biopsy of the breast and liver and image-guided interventions such as brachytherapy, cryotherapy, as well as other procedures that require a needle or needles to be introduced into soft tissues and be positioned accurately and precisely. The use of the method is described in robot-aided 3D US-guided prostate brachytherapy for the purpose of illustration.
[0043] Transperineal prostate brachytherapy provides an improved alternative for minimally-invasive treatment of prostate cancer. Pubic arch interference (“PAI”) with the implant path, however, occurs in many patients with large prostates and / or a small pelvis. These patients cannot be treated with current brachytherapy using parallel needle trajectories guided by a fixed template, because the anterior and / or the antero-lateral p...
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