Patent ID: 8702579

Claim:
A needle holder device for a prostate treatment involving a sequence of steps of inserting a needle into the prostate, comprising a 3D rectal ultrasound volume imaging probe of the prostate and a computer configured to process an image acquired by said probe and to calculate a position of the needle with respect to the prostate, wherein the computer is commanded to periodically deliver information on movement of the prostate after each of said insertion steps in order to validate insertion parameters with respect to a treatment plan, and to modify the insertion parameters with respect to said plan in the event of a movement having a value greater than a threshold value, and the information relating to the three-dimensional movement of the prostate is calculated by comparison of an instantaneous image delivered by the rectal probe with a reference three-dimensional image of the prostate and by the calculation of quantitative information on modifications between said instantaneous and reference images, wherein the computer determines information representing the movement of the prostate, involving: a general displacement of the prostate in the three-dimensional image acquired at a time t, with respect to the reference three-dimensional image, a general rotation of the prostate in the three-dimensional image acquired at the time t, with respect to the reference three-dimensional image, and a deformation of the prostate in the three-dimensional image acquired at the time t, with respect to the reference three-dimensional image.