Automated HIFU treatment planning and execution based on 3D modeling of the prostate, urethra, and rectal wall

Ralf Seip, Roy F. Carlson, Wohsing Chen, Narendra T. Sanghvi, Michael A. Penna, Kris A. Dines, Richard Pfile, Thomas Gardner, Michael Koch

Research output: Chapter in Book/Report/Conference proceedingConference contribution

7 Scopus citations


Current treatment planning with the Sonablate®500 image-guided high-intensity focused ultrasound (HIFU) device (Focus Surgery, Inc.) used for the treatment of prostate cancer consists of defining treatment zones on up to 15 ultrasound images that span the entire prostate. While effective, this process may be time-consuming in the case of large prostates or if multiple treatments are required For this reason, a method has been developed to quickly model the prostate, urethra, and rectal wall from 2D ultrasound images to allow for completely automated treatment planning for HIFU treatments. It is based on the identification of boundaries and prostate structures in 4 to 6 orthographic ultrasound images prior to treatment. The structures are defined through traces and form the input to structure-specific 3D models. All structures are modeled as deformable parametric surfaces that are then processed by the automated treatment planning module. Early results show that the developed models are robust, flexible, generate good closed surfaces even in the absence of full imaging data, and accurately model the wide variation encountered in tracing and pointing skills, human prostates, urethras, and rectal wall shapes. Such model accuracy has shown to be sufficient for planning these HIFU treatments. The entire treatment planning process is shown, highlighting the usefulness of the developed 3D models. Specific model details for the prostate, urethra, and the rectal are given. Results using in-vivo animal and human data as model inputs and envisioned treatment planner outputs are also presented, together with the initial integration activities into the Sonablate®500 HIFU device.

Original languageEnglish
Title of host publicationProceedings - IEEE Ultrasonics Symposium
EditorsM.P. Yuhas
Number of pages4
StatePublished - 2004
Event2004 IEEE Ultrasonics Symposium - Montreal, Que., Canada
Duration: Aug 23 2004Aug 27 2004


Other2004 IEEE Ultrasonics Symposium
CityMontreal, Que.



  • 3D models
  • HIFU
  • Image-guided
  • Prostate cancer
  • Treatment planning

ASJC Scopus subject areas

  • Engineering(all)

Cite this

Seip, R., Carlson, R. F., Chen, W., Sanghvi, N. T., Penna, M. A., Dines, K. A., Pfile, R., Gardner, T., & Koch, M. (2004). Automated HIFU treatment planning and execution based on 3D modeling of the prostate, urethra, and rectal wall. In M. P. Yuhas (Ed.), Proceedings - IEEE Ultrasonics Symposium (Vol. 3, pp. 1781-1784)