“…In the last few years, technology has progressed to make 3D ultrasound imaging an economically viable tool. Reports in [15,14,84] have shown that 3D ultrasound has advantages over conventional 2D techniques, and that it will play an increasingly important role in prostate disease treatments. Although from sequential cross-sectional 2D boundaries we can reconstruct a 3D prostate surface [19,20,23,24], as reported in [31,85], algorithms that could take advantage of 3D information would be more robust and accurate.…”