We present a robotically assisted prostate brachytherapy system and test results in training
phantoms and Phase-I clinical trials. The system consists of a transrectal ultrasound (TRUS)
and a spatially co-registered robot, fully 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,
using the same coordinate system. Established clinical hardware, workflow and calibration …

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 …