Table 1.

Number of needle insertions and adjustments for the 5 patients treated

	#1	#2	#3	#4	#5	Total
Prostate volume (cc)	31.1	19.2	28.4	48.2	42.9
Total needles inserted	35	33	44	31	41	184
Total planned needles	35	31	41	30	38	175
Inserted by robot	30	33	44	31	41	179
Inserted manually	5	0	0	0	0	5
Adjustments to calibration (home adjust)	1	3	2	1	1	8
Adjustments to correct needle position	0	12	12	12	14	50
> 2 mm in X	0	5	2	7	6	20
> 2 mm in Y	0	2	3	2	1	8
> 4 mm in X	0	0	0	1	0	1
> 4 mm in Y	0	0	0	0	0	0
Adjustments to modify plan	4	0	9	6	8	27
> 2 mm in X	0	0	5	3	5	13
> 2 mm in Y	3	0	4	1	2	10
> 4 mm in X	0	0	3	0	2	5
> 4 mm in Y	1	0	1	0	2	4