Fig. 8.

A brachytherapy procedure was performed in fresh ex vivo goat liver as an example of a clinical needle steering application. First, the steered needle was driven to the desired location for a brachytherapy seed. Next, a sheath was deployed over the needle and the needle was removed. One artificial brachytherapy seed was then inserted through the sheath and deposited at the desired location. The needle was then reinserted, the sheath removed, and the needle was driven to a second location for a seed where this procedure was repeated. In this example, three seeds are placed in target regions approximately 1.0 cm apart.