Abstract: A three-dimensional biopsy mapping and focal therapy system, method, and apparatus uses an imaging system to generate and store a three-dimensional image of a target tissue based on an ultrasound image of the target tissue by storing a user generated contour of the target tissue and surrounding anatomical structures, calculating the volume of the target tissue and surrounding anatomical structures. Biopsy site location and orientation are generated and stored with the three-dimensional image. Biopsied tissue specimens are examined for lesions, and the lesion sites are recorded in the three-dimensional image. Based on the pathology information and biopsy sites, the volume of the overall tumor is calculated and represented in the three-dimensional image. The three-dimensional image of the target tissue and lesion tissue is manipulable, and the image is used to provide localized therapy to the diseased tissue.

Abstract: A digital servomechanism and control system which can be used to adjustably point massive structures to increments of microaradians is disclosed. This system includes: a rotating pedestal which is mounted on a gimbal, a high torque motor, a high current amplifier, encoder, a digital-to-analog (D/A) converter, a mount dynamics unt, a summing junction, a rate control unit, a controller unit, a D/P unit, and a Micro Vax computer.