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In this paper a novel method for automatic prostate segmentation in transrectal ultrasound images is presented. Morphological grey level transformations are first used to generate an image with enough bright intensity around the prostate. This image is then thresholded to produce a binary image. Then by finding and using a point as the inside point for the prostate, a Kalman estimator is used to isolate the prostate boundary from any irrelevant parts and produce a roughly segmented version (as coarse estimation). Consequently, a fuzzy inference system describing regional and gray level information is employed to enhance the contrast of the prostate with respect to the background. Using strong edges obtained from this enhanced image and information from pixels gradients and also the characteristics in the vicinity of the coarse estimation, the final boundary is extracted. A number of experiments are conducted to validate this method.