[Brachytherapy needle steering using intra-tissue real-time ultrasound 3d visualization].

Aim: To explore in a model experiment the capability of the developed software for 3D- ultrasound imaging of tumors in the pelvic tissue phantom to steer a brachytherapy needle using 6-axis robotic arm.

Materials And Methods: The experiment employed a six-axis robotic arm with a device for moving the needle, a phantom with a tumor model and ultrasound scanner with biplane transducer. Controlled by the developed software, the robotic arm automatically inserted the needle in the phantom.