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A review on the techniques used in prostate brachytherapy

Li, Yanlei; Yang, Chenguang; Bahl, Amit; Persad, Raj; Melhuish, Chris

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Yanlei Li

Amit Bahl

Raj Persad

Chris Melhuish
Professor of Robotics & Autonomous Systems


Prostate brachytherapy is a validated treatment for prostate cancer. During the procedure, the accuracy of needle placement is critical to the treatment’s effectiveness. However, the inserted needle could deflect from the preset trajectory because of the needle deflection, tissue shifting caused by the interaction between the needle and soft tissue, as well as the effects of pre-inserted needles. There are significant challenges in needle placement areas, especially in prostate brachytherapy, because multiple needles are required for the effectiveness of radiation. To overcome these limitations, relevant research is carried out in mechanical, computer science, and material science areas. With the development of surgical robotics, researchers are also exploring the possibilities of raising the accuracy of needle placement with surgical-assisted robotics. This study provides a review over the last 3decades in each of the component research areas that constitutes a surgical robotics system, including needle steering approaches, needle-tissue deformation models, path planning algorithms and different automatic level surgical robotics systems used for prostate cancer treatment, especially prostate brachytherapy. Further directions for researchers are also suggested.


Li, Y., Yang, C., Bahl, A., Persad, R., & Melhuish, C. (2022). A review on the techniques used in prostate brachytherapy. Cognitive Computation and Systems, 4(4), 317-328.

Journal Article Type Review
Acceptance Date Jun 28, 2022
Online Publication Date Jul 11, 2022
Publication Date 2022-11
Deposit Date Aug 15, 2022
Publicly Available Date Aug 16, 2022
Journal Cognitive Computation and Systems
Electronic ISSN 2517-7567
Publisher Institution of Engineering and Technology (IET)
Peer Reviewed Peer Reviewed
Volume 4
Issue 4
Pages 317-328
Keywords prostate; brachytherapy; prostate brachytherapy; Prostate cancer
Public URL
Publisher URL


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