Registration of ultrasound with radiotherapy room coordinates

The first challenge encountered when introducing ultrasound into radiotherapy is described in chapter 3: localising the probe in the simulation suite and in the treatment room to enable comparison of the positions of anatomical structures at the two stages. The solutions available are introduced together with a detailed description and analysis of the sources of error and uncertainty. After the probe has been localised, the next steps are to evaluate if the image acquired is of sufficient quality and segment all the relevant structures of interest.