Fig. 1. 3D Reconstruction of prostate models: (a) digitized image of a single slice of a step-sectioned radical prostatectomy specimen; (b) stacked surgical margin contour controls of original slices; (c) surgical margin contour interpolation; (d) final 3D reconstructed prostate model.

Fig. 2. Hardware environment of the prostate biopsy visualization system.

Fig. 3. Needle locations for the sextant and 5-region protocols.

Fig. 4. Needles mounted in calculated locations in their initial poses.

Fig. 5. Side view of needle poses after being fired in the prostate.

Fig. 6. An example of needle biopsy results.

Fig. 7. Virtual ultrasound probe, needle and ultrasound image.

Fig. 8. Zone is positive.

Fig. 9. Zone is negative.

Fig. 10. Partition of space.

Fig. 11. Partition of plane.

Fig. 12. Cancer contains the zone section if the scan line has odd number of intersections.

Fig. 13. Cancer does not contain the zone section if the scan line has even number of intersections.

Fig. 14. The 8-zone division of a prostate model (1: left apex, 2: left mid, 3: left base, 4: right apex, 5: right mid, 6: right base, 7: left anterior, 8: right anterior).

Fig. 15. Prostate cancer distribution in each of the eight zones.

Fig. 16. Distribution of prostate cancer in each of the eight zones.

Fig. 17. A prostate model with 48-zone division.

Fig. 18. Cancer distribution presented in sagittal layers.

Fig. 19. Cancer distribution presented in coronal layers.

Fig. 20. Cancer distribution presented in axial layers.