Figure 1

Illustrations of custom 3D US mechatronic systems for use in HDR gynecologic brachytherapy. (a) 3D TAUS system including relevant components. During acquisition, the scan plane (grey) tilts 60° in- and out-of-page. (b) 3D TRUS system mounted on a standard operating room bed. The rotational motion of the transducer is controlled by the motorized scanner.