The present invention is directed to a method of penile prosthesis implantation that is minimally invasive, particularly in comparison to traditional methods of penile prosthesis implantation. The implantation method utilizes image guidance and a catheter deployment system for implanting a penile prothesis into the corporal body of a penis of a patient. More specifically, the implantation method may utilize the Seldinger technique and/or a modified Seldinger technique for implanting the prothesis. The method of implantation may result in more accurate placement, better cosmetic results, faster healing, and less likelihood for infections and other complications.