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. Author manuscript; available in PMC: 2012 Jan 29.
Published in final edited form as: Proc IEEE RAS EMBS Int Conf Biomed Robot Biomechatron. 2010:893–899. doi: 10.1109/BIOROB.2010.5625965

Fig. 7.

Fig. 7

Test Case 3: Prostate Anatomy. To simulate the environment encountered by physicians performing prostate brachytherapy cancer treatment, we use a model of anatomical obstacles including the urethra, penile bulb, pubic bone, and seminal vesicles around the prostate (labeled in Fig. 1) as in Xu et al. [22]. (a) Optimal needle trajectory (shown in red) that minimizes needle insertion depth (αl = 1, αo = 0). (b) Optimal needle trajectory that maximizes the clearance from the obstacles (αl = 0, αo = 1).