A method and system, employed in combination with a three-dimensional ultrasonographic imaging system, for assisting and placing at least one medical instrument into a prostate during a percutaneous prostrate therapeutic procedure. A process means for determining the spatial relationship between three-dimensional...http://www.google.com/patents/US6423009?utm_source=gb-gplus-sharePatent US6423009 - System, employing three-dimensional ultrasonographic imaging, for assisting in guiding and placing medical instruments
