An apparatus for performing brachytherapy, comprising: a robotic assembly having a needle guide for guiding a brachytherapy needle into a patient, said robotic assembly being controllable to control the position and orientation of said needle guide in relation to said patient, said needle guide permitting manual longitudinal movement of said brachytherapy needle by an operator; a computing device in communication with said robotic assembly, said computing device being adapted to determine a planned distribution of a selected therapy in a target volume, and comprising a communication interface adapted to receive volume data from a three-dimensional ultrasound transducer captured from a target volume, and comprising a memory adapted to store a dose distribution planning program, and comprising a processor adapted to execute said dose distribution planning program for processing said volume data, and adapted to determine said planned distribution of said selected therapy in said target volume along a set of planned needle trajectories using said volume data, at least one of said planned needle trajectories being oblique to at least one other of said planned needle trajectories, and adapted to store dose distribution for a target volume, and adapted to control said robotic assembly to position said needle guide in accordance with said dose distribution; wherein the dose distribution planning program is adapted to provide planned needle trajectory information to a three-dimensional visualization software so that the planned needle trajectory is overlaid on top ultrasound images on the display and such that the actual needle trajectory can then be viewed in relation to the planned needle trajectory; and further wherein the apparatus is adapted to receive and process ultrasound images from imaging software and dynamically re-determine said planned distribution of the selected therapy based on actual needle trajectory and seed implantation locations, for dynamic re-optimization of the dose plan during the seed implantation procedure by allowing dynamic adjustments of the needle position to target potential cold spots and for compensating for deviations in the actual needle trajectories; wherein the actual needle trajectory and seed implantation locations are determined by said apparatus being adapted to locate the needle using the volume data and to locate the seeds by analyzing the target volume along the actual needle trajectory and by segmentation of ultrasound images of the seeds implanted by said needle. a robotic assembly having a needle guide for guiding a brachytherapy needle into a patient, said robotic assembly being controllable to control the position and orientation of said needle guide in relation to said patient, said needle guide permitting manual longitudinal movement of said brachytherapy needle by an operator; a computing device in communication with said robotic assembly, said computing device being adapted to determine a planned distribution of a selected therapy in a target volume, and comprising a communication interface adapted to receive volume data from a three-dimensional ultrasound transducer captured from a target volume, and comprising a memory adapted to store a dose distribution planning program, and comprising a processor adapted to execute said dose distribution planning program for processing said volume data, and adapted to determine said planned distribution of said selected therapy in said target volume along a set of planned needle trajectories using said volume data, at least one of said planned needle trajectories being oblique to at least one other of said planned needle trajectories, and adapted to store dose distribution for a target volume, and adapted to control said robotic assembly to position said needle guide in accordance with said dose distribution; wherein the dose distribution planning program is adapted to provide planned needle trajectory information to a three-dimensional visualization software so that the planned needle trajectory is overlaid on top ultrasound images on the display and such that the actual needle trajectory can then be viewed in relation to the planned needle trajectory; and further wherein the apparatus is adapted to receive and process ultrasound images from imaging software and dynamically re-determine said planned distribution of the selected therapy based on actual needle trajectory and seed implantation locations, for dynamic re-optimization of the dose plan during the seed implantation procedure by allowing dynamic adjustments of the needle position to target potential cold spots and for compensating for deviations in the actual needle trajectories; wherein the actual needle trajectory and seed implantation locations are determined by said apparatus being adapted to locate the needle using the volume data and to locate the seeds by analyzing the target volume along the actual needle trajectory and by segmentation of ultrasound images of the seeds implanted by said needle.