@article {Marker2017, title = {1.5 Tesla augmented reality navigated interventional magnetic resonance imaging: paravertebral sympathetic plexus injections}, journal = {Diagnostic and Interventional Radiology}, year = {In Press}, month = {01/2017}, author = {David R. Marker and Paweena U-Thainual and Tamas Ungi and Aaron J Flammang and Gabor Fichtinger and Iulian Iordachita and John A Carrino and Jan Fritz} } @article {Yeo2017, title = {3D Segmentation as a Surgical Planning Tool for Residents in Liver Resection Surgery}, year = {In Press}, abstract = {

Introduction: Liver surgery requires identification of tumor(s) in relation to key vessels to preserve healthy tissue, while obtaining negative margins. Current planning is mentally strenuous for residents as it relies on mental 3D reconstruction, anatomical knowledge, spatial sense, and experience. The purpose of this study is to determine if 3D segmentation improves resident ability to devise appropriate liver resection plans.

Methods: Senior general surgery residents were recruited. Pre-operative CT/MR images were selected if they reflected actual surgeries performed. Images were segmented to create interactive 3D models. Residents were asked to devise surgical plans for case-matched 2D and 3D models in an alternating, randomly generated order. Primary outcome was correct preoperative plan based on actual surgery performed. Secondary outcome was time (seconds(s)) to devise plan. Planning data was analyzed using Wilcoxon test, time was analyzed using paired t-test.

Results: All 14 senior residents from our institution participated. The average correct response was 1.7 of 5 (34\%; range 1 to 4) for the 2D group, and 3.1 of 5 (62\%; range 0 to 4) for the 3D group (p\<0.01). The average time to complete each plan was 156{\textpm}107s for the 2D group, and 84{\textpm}73s for the 3D group (p\<0.01).

Conclusions: The results show that 3D segmentation increases accuracy of surgical planning and decreases amount of time required. 3D segmentation is useful as a teaching tool as it reduces cognitive load required to mentally reconstruct 2D images, allowing the resident to focus on surgical planning. It improves understanding of spatial liver anatomy and serves as an adjunct to current 2D planning methods. This has the potential to be developed into a module for teaching liver surgery relevant to a competency-based curriculum.

}, author = {Yeo, Caitlin T and MacDonald, Andrew and Tamas Ungi and Andras Lasso and Diederick Jalink and Gabor Fichtinger and Nanji, Sulaiman} } @article {Brastianos2017a, title = {Electromagnetic Reconstruction of Catheter Paths in Mult-Catheter Interstitial Brachytherapy: A Phantom Model.}, year = {In Press}, author = {Harry Brastianos and Thomas Vaughan and Andras Lasso and Mary Westerland and James Gooding and Gabor Fichtinger and Conrad Falkson} } @article {Holden2019a, title = {Machine learning methods for automated technical skills assessment with instructional feedback in ultrasound-guided interventions}, journal = {International Journal of Computer Assisted Radiology and Surgery}, year = {In Press}, doi = {https://doi.org/10.1007/s11548-019-01977-3}, author = {M. Holden and Sean Xia and H. Lia and Keri, Zsuzsanna and Colin Bell and Lindsey Patterson and Tamas Ungi and Gabor Fichtinger} } @article {Janssen2020a, title = {Navigated tissue characterization during skin cancer surgery}, journal = {Int J Comput Assist Radiol Surg}, year = {In Press}, month = {05/2020}, abstract = {

Purpose:\ Basal cell carcinoma (BCC) is the most commonly diagnosed skin cancer and is treated by surgical resection. Incomplete tumor removal requires surgical revision, leading to significant healthcare costs and impaired cosmesis. We investigated the clinical feasibility of a surgical navigation system for BCC surgery, based on molecular tissue characterization using rapid evaporative ionization mass spectrometry (REIMS).

Methods:\ REIMS enables direct tissue characterization by analysis of cell-specific molecules present within surgical smoke, produced during electrocautery tissue resection. A tissue characterization model was built by acquiring REIMS spectra of BCC, healthy skin and fat from ex vivo skin cancer specimens. This model was used for tissue characterization during navigated skin cancer surgery. Navigation was enabled by optical tracking and real-time visualization of the cautery relative to a contoured resection volume. The surgical smoke was aspirated into a mass spectrometer and directly analyzed with REIMS. Classified BCC was annotated at the real-time position of the cautery. Feasibility of the navigation system, and tissue classification accuracy for ex vivo and intraoperative surgery were evaluated.

Results:\ Fifty-four fresh excision specimens were used to build the ex vivo model of BCC, normal skin and fat, with 92\% accuracy. While 3 surgeries were successfully navigated without breach of sterility, the intraoperative performance of the ex vivo model was low (\< 50\%). Hypotheses are: (1) the model was trained on heterogeneous mass spectra that did not originate from a single tissue type, (2) during surgery mixed tissue types were resected and thus presented to the model, and (3) the mass spectra were not validated by pathology.

Conclusion:\ REIMS-navigated skin cancer surgery has the potential to detect and localize remaining tumor intraoperatively. Future work will be focused on improving our model by using a precise pencil cautery tip for burning localized tissue types, and having pathology-validated mass spectra.

}, keywords = {Intraoperative surgical resection margin assessment, Model-guided surgery, Optical navigation, Real-time tissue characterization}, doi = {10.1007/s11548-020-02200-4}, url = {https://doi.org/10.1007/s11548-020-02200-4}, author = {Natasja Janssen and Martin Kaufmann and Alice Santilli and Amoon Jamzad and Vanderbeck Kaitlin and Kevin Ren and Tamas Ungi and Parvin Mousavi and John Rudan and Doug McKay and Amy Wang and Gabor Fichtinger} } @article {Hu2022, title = {Real-time automatic tumor segmentation for ultrasound-guided breast-conserving surgery navigation}, journal = {International Journal of Computer Assisted Radiology and Surgery}, year = {In Press}, month = {05/2022}, doi = {10.1007/s11548-022-02658-4}, url = {https://doi.org/10.1007/s11548-022-02658-4}, author = {Zoe Hu and Paola V. Nasute Fauerbach and Chris Yeung and Tamas Ungi and John Rudan and C. Jay Engel and Parvin Mousavi and Gabor Fichtinger and Doris Jabs} } @article {Kitner2022a, title = {Automated Automatic catheter modelling in 3D transrectal ultrasound images from high-dose-rate prostate brachytherapy using a deep learning and feature extraction pipeline}, year = {2022}, month = {06/2022}, publisher = {Canadian Organization of Medical Physicists}, author = {Nicole Kitner and Jessica R. Rodgers and Tamas Ungi and Martin Korzeniowski and Timothy Olding and C.P. Joshi and Parvin Mousavi and Gabor Fichtinger} } @article {Kitner2022a, title = {Automated catheter localization in ultrasound images from High-dose-rate prostate brachytherapy using deep learning and feature extraction}, year = {2022}, month = {09/2022}, publisher = {Canadian Association for Radiation Oncologists}, author = {Nicole Kitner and Jessica R. Rodgers and Tamas Ungi and Timothy Olding and C.P. Joshi and Parvin Mousavi and Gabor Fichtinger and Martin Korzeniowski} } @article {Kitner2022a, title = {Automated Catheter Segmentation in 3D Ultrasound Images from High-Dose-Rate Prostate Brachytherapy}, year = {2022}, month = {02/2022}, publisher = {Imaging Network of Ontario}, address = {Online}, author = {Nicole Kitner and Jessica R. Rodgers and Tamas Ungi and Martin Korzeniowski and Timothy Olding and C.P. Joshi and Parvin Mousavi and Gabor Fichtinger} } @article {Connolly2022c, title = {Bridging 3D Slicer and ROS2 for Image-Guided Robotic Interventions}, journal = {Sensors}, volume = {22}, year = {2022}, month = {07/2022}, doi = {https://doi.org/10.3390/s22145336}, author = {Laura Connolly and Anton Degeut and Simon Leonard and Junichi Tokuda and Tamas Ungi and Axel Krieger and Peter Kazanzides and Parvin Mousavi and Gabor Fichtinger and Russell H. Taylor} } @article {Lee2022a, title = {Evaluating Faster R-CNN for cataract surgery tool detection using microscopy video}, year = {2022}, abstract = {

Introduction: Traditional methods of cataract surgery skill assessment rely on human expert supervision. This exposes the trainee to interobserver variability and inconsistent feedback. Alternative measures such as sensorbased instrument motion analysis promise objective assessment [1]. However, sensor-based systems are logistically complicated and expensive to obtain. Previous studies have demonstrated a strong correlation between sensor-based metrics and two-dimensional motion metrics obtained from object detection [2]. Reliable object detection is the foundation for computing such performance metrics. Therefore, the objective of this study is to evaluate the performance of an object detection network, namely Faster Region-Based Convolutional Neural Network (FRCNN), in recognition of cataract surgery tools in microscopy video. Methods: Microscope video was recorded for 25 trials of cataract surgery on an artificial eye. The trials were performed by a cohort consisting of one senior-surgeon and four junior-surgeons and manually annotated for bounding box locations of the cataract surgery tools (Figure 1) The surgical tools used included: forceps, diamond keratomes, viscoelastic cannulas, and cystotome needles. A FRCNN [3] was trained on a total of 130,614 frames for object detection. We used five-fold cross validation, using a leave-one-userout method. In this manner, all videos from one surgeon were reserved for testing and the frames from the remaining 20 videos were divided among training and validation. Network performance was evaluated via mean average precision (mAP), which is defined as the area under the precision/recall curve. Samples were considered correctly identified when the intersection over union (IoU) between the ground truth and predicted bounding boxes was greater than 0.5. Results: The overall mAP of the network was 0.63. Toolspecific mAPs ranged between 0.49 and 0.96 (Table 1). The high accuracy in detection of the cystotome needle is likely due to the distinct size and shape of the tool tip. The diamond keratome had the lowest mAP of any of the tools recognized, however this may be attributed to variations in the appearance of the tool tip (Figure 2). Conclusions: The FRCNN was able to recognize the surgical tools used in cataract surgery with reasonably high accuracy. Now that we know the network can sufficiently recognize the surgical tools, our next goal is to use this network to compute motion-based performance metrics. Future work seeks to validate these performance metrics against those obtained from sensor-based tracking and against expert evaluations. This serves as a first step towards providing consistent and accessible feedback for future trainees learning cataract surgery.\ 

}, author = {H.Y. Lee}, editor = {R. Hisey} } @conference {Connolly2022, title = {Feasibility of combined optical and acoustic imaging for surgical cavity scanning}, booktitle = {SPIE Medical Imaging 2022: Image-Guided Procedures, Robotic Interventions, and Modeling}, volume = {12034}, year = {2022}, month = {04/2022}, address = {San Diego (online)}, abstract = { PURPOSE: Over 30\% of breast conserving surgery patients must undergo repeat surgery to address incomplete tumor resection. We hypothesize that the addition of a robotic cavity scanning system can improve the success rates of these procedures by performing additional, intraoperative imaging to detect left-over cancer cells. In this study, we assess the feasibility of a combined optical and acoustic imaging approach for this cavity scanning system. METHODS: Dual-layer tissue phantoms are imaged with both throughput broadband spectroscopy and an endocavity ultrasound probe. The absorbance and transmittance of the incident light from the broadband source is used to characterize each tissue sample optically. Additionally, a temporally enhanced ultrasound approach is used to distinguish the heterogeneity of the tissue sample by classifying individual pixels in the ultrasound image with a support vector machine. The goal of this combined approach is to use optical characterization to classify the tissue surface, and acoustic characterization to classify the sample heterogeneity. RESULTS: Both optical and acoustic characterization demonstrated promising preliminary results. The class of each tissue sample is distinctly separable based on the transmittance and absorption of the broadband light. Additionally, an SVM trained on the temporally enhance ultrasound signals for each tissue type, showed 82\% linear separability of labelled temporally enhanced ultrasound sequences in our test set. CONCLUSIONS: By combining broadband and ultrasound imaging, we demonstrate a potential non-destructive imaging approach for this robotic cavity scanning system. With this approach, our system can detect both surface level tissue characteristics and depth information. Applying this to breast conserving surgery can help inform the surgeon about the tissue composition of the resection cavity after initial tumor resection.}, doi = {https://doi.org/10.1117/12.2611964}, author = {Laura Connolly and Amoon Jamzad and Arash Nikniazi and Rana Poushimin and Jean Michel Nunzi and John Rudan and Gabor Fichtinger and Parvin Mousavi} } @conference {ODriscoll2022a, title = {Feasibility of object detection for skill assessment in central venous catheterization}, booktitle = {SPIE Medical Imaging}, year = {2022}, month = {02/2022}, publisher = {SPIE Medical Imaging}, organization = {SPIE Medical Imaging}, address = {San Diego}, abstract = {

Purpose: Computer-assisted surgical skill assessment methods have traditionally relied on tracking tool motion with physical sensors. These tracking systems can be expensive, bulky, and impede tool function. Recent advances in object detection networks have made it possible to quantify tool motion using only a camera. These advances open the door for a low-cost alternative to current physical tracking systems for surgical skill assessment. This study determines the feasibility of using metrics computed with object detection by comparing them to widely accepted metrics computed using traditional tracking methods in central venous catheterization. Methods: Both video and tracking data were recorded from participants performing central venous catheterization on a venous access phantom. A Faster Region-Based Convolutional Neural Network was trained to recognize the ultrasound probe and syringe on the video data. Tracking-based metrics were computed using the Perk Tutor extension of 3D Slicer. The path length and usage time for each tool were then computed using both the video and tracking data. The metrics from object detection and tracking were compared using Spearman rank correlation. Results: The path lengths had a rank correlation coefficient of 0.22 for the syringe (p\<0.03) and 0.35 (p\<0.001) for the ultrasound probe. For the usage times, the correlation coefficient was 0.37 (p\<0.001) for the syringe and 0.34 (p\<0.001) for the ultrasound probe. Conclusions: The video-based metrics correlated significantly with the tracked metrics, suggesting that object detection could be a feasible skill assessment method for central venous catheterization.

}, keywords = {central venous catheterization, computer-assisted skill assessment, Object detection}, author = {Olivia O{\textquoteright}Driscoll and R. Hisey and M. Holden and Daenis Camire and Jason Erb and Daniel Howes and Tamas Ungi and Gabor Fichtinger} } @article {ODriscoll2022b, title = {Feasibility of using object detection for performance assessment in central venous catherization}, year = {2022}, month = {02/2022}, author = {Olivia O{\textquoteright}Driscoll and R. Hisey and M. Holden and Daenis Camire and Jason Erb and Daniel Howes and Tamas Ungi and Gabor Fichtinger} } @article {Kaufmann2022b, title = {Harmonization of Rapid Evaporative Ionization Mass Spectrometry Workflows across Four Sites and Testing Using Reference Material and Local Food-Grade Meats}, journal = {Metabolites}, year = {2022}, author = {Martin Kaufmann and Pierre-Maxence Vaysse and Adele Savage and Ala Amgheib and Andr{\'a}s Marton and Eftychios Manoli and Gabor Fichtinger and Steven D. Pringle and John Rudan and Ron M. A. Heeren and Zolt{\'a}n Tak{\'a}ts and J{\'u}lia Balog and Tiffany Porta Siegel} } @article {Klosa2022b, title = {Identifying tissues for task recognition in training of open inguinal hernia repairs}, year = {2022}, month = {02/2022}, author = {Elizabeth Klosa and R. Hisey and Tahmina Nazari and Theo Wiggers and Boris Zevin and Tamas Ungi and Gabor Fichtinger} } @conference {connolly2022b, title = {An open-source testbed for developing image-guided robotic tumor-bed inspection}, booktitle = {Imaging Network of Ontario (ImNO) Symposium}, year = {2022}, author = {Laura Connolly and Amoon Jamzad and Arash Nikniazi and Rana Poushimin and Andras Lasso and Kyle R. Sunderland and Tamas Ungi and Jean Michel Nunzi and John Rudan and Gabor Fichtinger and Parvin Mousavi} } @conference {Klosa2022a, title = {Tissue segmentation for workflow recognition in open inguinal hernia repair training}, booktitle = {SPIE Medical Imaging}, year = {2022}, month = {02/2022}, publisher = {SPIE Medical Imaging}, organization = {SPIE Medical Imaging}, address = {San Diego}, abstract = {PURPOSE: As medical education adopts a competency-based training method, experts are spending substantial amounts of time instructing and assessing trainees{\textquoteright} competence. In this study, we look to develop a computer-assisted training platform that can provide instruction and assessment of open inguinal hernia repairs without needing an expert observer. We recognize workflow tasks based on the tool-tissue interactions, suggesting that we first need a method to identify tissues. This study aims to train a neural network in identifying tissues in a low-cost phantom as we work towards identifying the tool-tissue interactions needed for task recognition. METHODS: Eight simulated tissues were segmented throughout five videos from experienced surgeons who performed open inguinal hernia repairs on phantoms. A U-Net was trained using leave-one-user-out cross validation. The average F-score, false positive rate and false negative rate were calculated for each tissue to evaluate the U-Net{\textquoteright}s performance. RESULTS: Higher F-scores and lower false negative and positive rates were recorded for the skin, hernia sac, spermatic cord, and nerves, while slightly lower metrics were recorded for the subcutaneous tissue, Scarpa{\textquoteright}s fascia, external oblique aponeurosis and superficial epigastric vessels. CONCLUSION: The U-Net performed better in recognizing tissues that were relatively larger in size and more prevalent, while struggling to recognize smaller tissues only briefly visible. Since workflow recognition does not require perfect segmentation, we believe our U-Net is sufficient in recognizing the tissues of an inguinal hernia repair phantom. Future studies will explore combining our segmentation U-Net with tool detection as we work towards workflow recognition.}, keywords = {open inguinal hernia repair, segmentation, surgical training, U-Net, workflow recognition}, author = {Elizabeth Klosa and R. Hisey and Tahmina Nazari and Theo Wiggers and Boris Zevin and Tamas Ungi and Gabor Fichtinger} } @article {Fooladgar2022, title = {Uncertainty estimation for margin detection in cancer surgery using mass spectrometry}, journal = {International Journal of Computer Assisted Radiology and Surgery}, year = {2022}, month = {09/2022}, type = {Journal}, doi = {https://doi.org/10.1007/s11548-022-02764-3}, author = {Fahimeh Fooladgar and Amoon Jamzad and Laura Connolly and Alice Santilli and Martin Kaufmann and Kevin Ren and Purang Abolmaesumi and John Rudan and Doug McKay and Gabor Fichtinger and Parvin Mousavi} } @article {Hisey2021a, title = {Central Line Tutor: using computer vision workflow recognition in a central venous catheterization training system}, year = {2021}, month = {02/2021}, author = {R. Hisey and Daenis Camire and Jason Erb and Daniel Howes and Gabor Fichtinger and Tamas Ungi} } @article {Connolly2021c, title = {Combined Mass Spectrometry and Histopathology Imaging for Perioperative Tissue Assessment in Cancer Surgery}, journal = {Journal of Imaging}, volume = {7}, number = {203}, year = {2021}, month = {10/2021}, type = {Article}, abstract = {

Mass spectrometry is an effective imaging tool for evaluating biological tissue to detect cancer. With the assistance of deep learning, this technology can be used as a perioperative tissue assessment tool that will facilitate informed surgical decisions. To achieve such a system requires the development of a database of mass spectrometry signals and their corresponding pathology labels. Assigning correct labels, in turn, necessitates precise spatial registration of histopathology and mass spectrometry data. This is a challenging task due to the domain differences and noisy nature of images. In this study, we create a registration framework for mass spectrometry and pathology images as a contribution to the development of perioperative tissue assessment. In doing so, we explore two opportunities in deep learning for medical image registration, namely, unsupervised, multi-modal deformable image registration and evaluation of the registration. We test this system on prostate needle biopsy cores that were imaged with desorption electrospray ionization mass spectrometry (DESI) and show that we can successfully register DESI and histology images to achieve accurate alignment and, consequently, labelling for future training. This automation is expected to improve the efficiency and development of a deep learning architecture that will benefit the use of mass spectrometry imaging for cancer diagnosis.

}, doi = {https://doi.org/10.3390/jimaging7100203}, author = {Laura Connolly and Amoon Jamzad and Martin Kaufmann and Catriona E. Farquharson and Kevin Ren and John Rudan and Gabor Fichtinger and Parvin Mousavi} } @article {Fichtinger2021, title = {Design of an Ultrasound-Navigated Prostate Cancer Biopsy System for Nationwide Implementation in Senegal}, journal = {Journal of Imaging}, volume = {7}, number = {8}, year = {2021}, month = {08/2021}, pages = {154}, abstract = {

This paper presents the design of NaviPBx, an ultrasound-navigated prostate cancer biopsy system. NaviPBx is designed to support an affordable and sustainable national healthcare program in Senegal. It uses spatiotemporal navigation and multiparametric transrectal ultrasound to guide biopsies. NaviPBx integrates concepts and methods that have been independently validated previously in clinical feasibility studies and deploys them together in a practical prostate cancer biopsy system. NaviPBx is based entirely on free open-source software and will be shared as a free open-source program with no restriction on its use. NaviPBx is set to be deployed and sustained nationwide through the Senegalese Military Health Service. This paper reports on the results of the design process of NaviPBx. Our approach concentrates on {\textquotedblleft}frugal technology{\textquotedblright}, intended to be affordable for low{\textendash}middle income (LMIC) countries. Our project promises the wide-scale application of prostate biopsy and will foster time-efficient development and programmatic implementation of ultrasound-guided diagnostic and therapeutic interventions in Senegal and beyond.

}, issn = {2313-433X}, doi = {10.3390/jimaging7080154}, url = {https://www.mdpi.com/2313-433X/7/8/154}, author = {Gabor Fichtinger and Parvin Mousavi and Tamas Ungi and Fenster, Aaron and Purang Abolmaesumi and Gernot Kronreif and Ruiz-Alzola, Juan and Ndoye, Alain and Diao, Babacar and Ron Kikinis} } @conference {CWu2021a, title = {Development of an open-source system for prostate biopsy training in Senegal}, booktitle = {SPIE Medical Imaging 2021: Image-Guided Procedures, Robotic Interventions, and Modeling}, volume = {11598}, year = {2021}, month = {02/2021}, author = {Wu, Catherine O. and Diao, Babacar and Tamas Ungi and Alireza Sedghi and Ron Kikinis and Parvin Mousavi and Gabor Fichtinger} } @article {NasuteFauerbach2021, title = {Lack of definitive presurgical pathological diagnosis is associated with inadequate surgical margins in breast-conserving surgery}, journal = {European Journal of Surgical Oncology}, year = {2021}, month = {06/2021}, abstract = {

Purpose To determine the impact of definitive presurgical diagnosis on surgical margins in breast-conserving surgery (BCS) for primary carcinomas; clinicopathological features were also analyzed. Methods This retrospective study included women who underwent BCS for primary carcinomas in 2016 and 2017. Definitive presurgical diagnosis was defined as having a presurgical core needle biopsy (CNB) and not being upstaged between biopsy and surgery. Biopsy data and imaging findings including breast density were retrieved. Inadequate surgical margins (IM) were defined per latest ASCO and ASTRO guidelines. Univariable and multivariable analyses were performed. Results 360 women (median age, 66) met inclusion criteria with 1 having 2 cancers. 82.5\% (298/361) were invasive cancers while 17.5\% (63/361) were ductal carcinoma in situ (DCIS). Most biopsies were US-guided (284/346, 82.0\%), followed by mammographic (60/346, 17.3\%), and MRI-guided (2/346, 0.6\%). US and mammographic CNB yielded median samples of 2 and 4, respectively, with a 14G needle. 15 patients (4.2\%) lacked presurgical CNB. The IM rate was 30.0\%. In multivariable analysis, large invasive cancers (\>20\ mm), dense breasts, and DCIS were associated with IM (p\ =\ 0.029, p\ =\ 0.010, and p\ =\ 0.013, respectively). Most importantly, lack of definitive presurgical diagnosis was a risk factor for IM (OR, 2.35; 95\% CI: 1.23{\textendash}4.51, p\ =\ 0.010). In contrast, neither patient age (\<50) nor aggressive features (e.g., LVI) were associated with IM. Conclusion Lack of a definitive presurgical diagnosis was associated with a two-fold increase of IM in BCS; other risk factors were dense breasts, large invasive cancers, and DCIS.

}, keywords = {Breast cancer, Breast-conserving surgery (BCS), Core needle biopsy and vacuum-assisted biopsy, Definitive presurgical diagnosis, High-risk lesions, Surgical margins}, issn = {0748-7983}, doi = {https://doi.org/10.1016/j.ejso.2021.05.047}, url = {https://www.sciencedirect.com/science/article/pii/S0748798321005424}, author = {Paola V. Nasute Fauerbach and Kathrin Tyryshkin and Silvia Perez Rodrigo and John Rudan and Gabor Fichtinger and Michael Reedijk and Sonal Varma and David M. Berman} } @conference {ODriscoll2021a, title = {Object detection to compute performance metrics for skill assessment in central venous catheterization}, booktitle = {SPIE Medical Imaging}, year = {2021}, url = {https://www.spiedigitallibrary.org/conference-proceedings-of-spie/11598/1159816/Object-detection-to-compute-performance-metrics-for-skill-assessment-in/10.1117/12.2581889.short?SSO=1}, author = {Olivia O{\textquoteright}Driscoll and R. Hisey and Daenis Camire and Jason Erb and Daniel Howes and Gabor Fichtinger and Tamas Ungi} } @conference {Connolly2021, title = {An open-source platform for cooperative semi-autonomous robotic surgery}, booktitle = {IEEE International Conference on Autonomous Systems}, year = {2021}, month = {10/2021}, publisher = {IEEE}, organization = {IEEE}, address = {Montreal, Quebec}, doi = {https://doi.org/10.1109/ICAS49788.2021.9551149}, author = {Laura Connolly and Anton Degeut and Kyle R. Sunderland and Andras Lasso and Tamas Ungi and John Rudan and Russell H. Taylor and Parvin Mousavi and Gabor Fichtinger} } @article {Connolly2021b, title = {A platform for robot-assisted Intraoperative imaging in breast conserving surgery}, year = {2021}, month = {2021}, publisher = {Imaging Network of Ontario Symposium}, address = {Online}, author = {Laura Connolly and Kyle R. Sunderland and Andras Lasso and Anton Degeut and Tamas Ungi and John Rudan and Russell H. Taylor and Parvin Mousavi and Gabor Fichtinger} } @article {ODriscoll2021b, title = {Surgical tool tracking with object detection for performance assessment in central venous catheterization}, year = {2021}, author = {Olivia O{\textquoteright}Driscoll and R. Hisey and Daenis Camire and Jason Erb and Daniel Howes and Gabor Fichtinger and Tamas Ungi} } @article {Hisey2021b, title = {System for central venous catheterization training using computer vision-based workflow feedback}, journal = {IEEE Transactions on Biomedical Engineering}, year = {2021}, month = {10/2021}, author = {R. Hisey and Daenis Camire and Jason Erb and Daniel Howes and Gabor Fichtinger and Tamas Ungi} } @article {Poole2021, title = {Training in soft tissue resection using real-time visual computer navigation feedback from the Surgery Tutor: A randomized controlled trial}, journal = {Surgery}, year = {2021}, month = {12/2021}, abstract = {

Background In competency-based medical education, surgery trainees are often required to learn procedural skills in a simulated setting before proceeding to the clinical environment. The Surgery Tutor computer navigation platform allows for real-time proctor-less assessment of open soft tissue resection skills; however, the use of this platform as an aid in acquisition of procedural skills is yet to be explored. Methods In this prospective randomized controlled trial, 20 final year medical students were randomized to receive either training with real-time computer navigation feedback (Intervention, n\ = 10) or simulation training without navigation feedback (Control, n\ = 10) during resection of simulated non-palpable soft tissue tumors. Real-time computer navigation feedback allowed participants to visualize the position of their scalpel relative to the tumor. Computer navigation feedback was removed for postintervention assessment. Primary outcome was positive margin rate. Secondary outcomes were procedure time, mass of tissue excised, number of scalpel motions, and distance traveled by the scalpel. Results Training with real-time computer navigation resulted in a significantly lower positive margin rate as compared to training without navigation feedback (0\% vs 40\%, P\ = .025). All other performance metrics were not significantly different between the 2 groups. Participants in the intervention group displayed significant improvement in positive margin rate from baseline to final assessment (80\% vs 0\%, P\ \< .01), whereas participants in the Control group did not. Conclusion Real-time visual computer navigation feedback from the Surgery Tutor resulted in superior acquisition of procedural skills as compared to training without navigation feedback.

}, issn = {0039-6060}, doi = {https://doi.org/10.1016/j.surg.2021.11.037}, url = {https://www.sciencedirect.com/science/article/pii/S0039606021011855}, author = {Meredith Poole and Tamas Ungi and Gabor Fichtinger and Boris Zevin} } @conference {CBarr2021a, title = {Ultrasound Probe Pose Classification for Task Recognition in Central Venous Catheterization}, booktitle = {Imaging Network of Ontario Symposium}, year = {2021}, month = {02/2021}, author = {Colton Barr and R. Hisey and Tamas Ungi and Gabor Fichtinger} } @conference {CBarr2021b, title = {Ultrasound Probe Pose Classification for Task Recognition in Central Venous Catheterization}, booktitle = {43rd Conference of the IEEE Engineering Medicine and Biology Society}, year = {2021}, month = {10/2021}, abstract = {

Central Line Tutor is a system that facilitates real-time feedback during training for central venous catheterization. One limitation of Central Line Tutor is its reliance on expensive, cumbersome electromagnetic tracking to facilitate various training aids, including ultrasound task identification and segmentation of neck vasculature. The purpose of this study is to validate deep learning methods for vessel segmentation and ultrasound pose classification in order to mitigate the system{\textquoteright}s reliance on electromagnetic tracking. A large dataset of segmented and classified ultrasound images was generated from participant data captured using Central Line Tutor. A U-Net architecture was used to perform vessel segmentation, while a shallow Convolutional Neural Network (CNN) architecture was designed to classify the pose of the ultrasound probe. A second classifier architecture was also tested that used the U-Net output as the CNN input. The mean testing set Intersect over Union score for U-Net cross-validation was 0.746 {\textpm} 0.052. The mean test set classification accuracy for the CNN was 92.0\% {\textpm} 3.0, while the U-Net + CNN achieved 92.7\% {\textpm} 2.1\%. This study highlights the potential for deep learning on ultrasound images to replace the current electromagnetic tracking-based methods for vessel segmentation and ultrasound pose classification, and represents an important step towards removing the electromagnetic tracker altogether. Removing the need for an external tracking system would significantly reduce the cost of Central Line Tutor and make it far more accessible to the medical trainees that would benefit from it most.

}, author = {Colton Barr and R. Hisey and Tamas Ungi and Gabor Fichtinger} } @article {Choi2020, title = {3D Modeling of Surgically Implanted Stent-Based Valves in the Mitral Position in Children}, journal = {The Annals of Thoracic Surgery}, year = {2020}, doi = {10.1016/j.athoracsur.2020.02.020}, url = {https://doi.org/10.1016/j.athoracsur.2020.02.020}, author = {Perry S. Choi and HannahH Nam and Andras Lasso and Christian Herz and Simon Drouin and David M. Harrild and Michael Quartermain and Gabor Fichtinger and Christopher E. Mascio and Sitaram Emani and MatthewA Jolley} } @conference {KBarr2020, title = {Automated segmentation of computed tomography colonography images using a 3D U-Net}, booktitle = {SPIE Medical Imaging}, year = {2020}, month = {03/2020}, doi = {https://doi.org/10.1117/12.2549749}, author = {Keiran Barr and Jacob Laframboise and Tamas Ungi and Lawrence Hookey and Gabor Fichtinger} } @conference {Wu2020a, title = {Automatic segmentation of spinal ultrasound landmarks with U-net using multiple consecutive images for input}, booktitle = {SPIE Medical Imaging}, year = {2020}, doi = {10.1117/12.2549584}, author = {Victoria Wu and Tamas Ungi and Kyle R. Sunderland and Grace Pigeau and Abigael Schonewille and Gabor Fichtinger} } @article {Ungi2020, title = {Automatic spine ultrasound segmentation for scoliosis visualization and measurement}, journal = {IEEE Transactions on Biomedical Engineering}, volume = {67}, number = {11}, year = {2020}, month = {03/2020}, pages = {3234 - 3241}, abstract = {

Objective: Integrate tracked ultrasound and AI methods to provide a safer and more accessible alternative to X-ray for scoliosis measurement. We propose automatic ultrasound segmentation for 3-dimensional spine visualization and scoliosis measurement to address difficulties in using ultrasound for spine imaging. Methods: We trained a convolutional neural network for spine segmentation on ultrasound scans using data from eight healthy adult volunteers. We tested the trained network on eight pediatric patients. We evaluated image segmentation and 3-dimensional volume reconstruction for scoliosis measurement. Results: As expected, fuzzy segmentation metrics reduced when trained networks were translated from healthy volunteers to patients. Recall decreased from 0.72 to 0.64 (8.2\% decrease), and precision from 0.31 to 0.27 (3.7\% decrease). However, after finding optimal thresholds for prediction maps, binary segmentation metrics performed better on patient data. Recall decreased from 0.98 to 0.97 (1.6\% decrease), and precision from 0.10 to 0.06 (4.5\% decrease). Segmentation prediction maps were reconstructed to 3-dimensional volumes and scoliosis was measured in all patients. Measurement in these reconstructions took less than 1 minute and had a maximum error of 2.2{\textdegree} compared to X-ray. Conclusion: automatic spine segmentation makes scoliosis measurement both efficient and accurate in tracked ultrasound scans. Significance: Automatic segmentation may overcome the limitations of tracked ultrasound that so far prevented its use as an alternative of X-ray in scoliosis measurement.

}, doi = {10.1109/TBME.2020.2980540}, url = {https://ieeexplore.ieee.org/document/9034149}, author = {Tamas Ungi and Hastings Greer and Kyle R. Sunderland and Victoria Wu and Zachary M C Baum and Christopher Schlenger and Matthew Oetgen and Kevin Cleary and Stephen Aylward and Gabor Fichtinger} } @conference {Connolly2020a, title = {Classification of tumor signatures from electrosurgical vapors using mass spectrometry and machine learning: a feasibility study}, booktitle = {Medical Imaging 2020: Image-Guided Procedures, Robotic Interventions and Modeling}, volume = {11315}, year = {2020}, month = {2020}, publisher = {SPIE}, organization = {SPIE}, address = {Houston, Texas, United States}, doi = {https://doi.org/10.1117/12.2549343}, author = {Laura Connolly and Amoon Jamzad and Martin Kaufmann and Rachel Rubino and Alireza Sedghi and Tamas Ungi and Mark Asselin and Scott Yam and John Rudan and Christopher Nicol and Gabor Fichtinger and Parvin Mousavi} } @conference {Wiercigroch2020a, title = {Force and torque feedback in endoscopic vessel harvesting}, booktitle = {Medical Imaging 2020: Image-Guided Procedures, Robotic Inverventions and Modeling}, volume = {11315}, year = {2020}, month = {2020}, publisher = {SPIE}, organization = {SPIE}, address = {Houston, Texas, United States}, doi = {https://doi.org/10.1117/12.2550160}, author = {Julia Wiercigroch and Keyvan Hashtrudi-Zaad and Tamas Ungi and Gianluigi Bisleri and Gabor Fichtinger} } @article {Laframboise2020a, title = {Open source platform for automated collection of training data to support video-based feedback in surgical simulators}, year = {2020}, publisher = {SPIE}, address = {Houston, United States}, abstract = {

Purpose: Surgical training could be improved by automatic detection of workflow steps. A platform to collect and organize tracking and video data would enable rapid development of deep learning solutions for surgical training. The purpose of this research is to demonstrate 3D Slicer / PLUS Toolkit as a platform for video annotation by identifying and annotating tools interacting with tissues in simulated hernia repair. Methods: Tracking data from an optical tracker and video data from a camera are collected by PLUS and 3D Slicer. To demonstrate the platform in use, we identify tissues during a surgical procedure using a neural network. The tracking data is used to identify what tool is in use. The solution is deployed with a custom Slicer module. Results: This platform allowed the collection and storage of enough tracked video data for training a convolutional neural network (CNN) to detect interactions with tissues and tools. The CNN was trained on this data and applied to new data with a testing accuracy of 98\%. The model{\textquoteright}s predictions can be weighted over several frames with a custom Slicer module to improve accuracy. Conclusion: We found the 3D Slicer and PLUS Toolkit platform to be a viable platform for training and deploying a solution that combines automatic video processing and optical tool tracking. We designed a proof of concept model to identify tissues with a trained CNN in real time along with tracking of surgical tools.

}, keywords = {3D Slicer, AI, annotation, collection, data, deep learning, PLUS, surgical training, video}, author = {Jacob Laframboise and Tamas Ungi and Kyle R. Sunderland and Boris Zevin and Gabor Fichtinger} } @article {Gauvin2019, title = {Real-time electromagnetic navigation for breast-conserving surgery using NaviKnife technology: A matched case-control study}, journal = {The Breast Journal}, volume = {26}, number = {3}, year = {2020}, month = {09/2019}, pages = {399-405}, doi = {10.1111/tbj.13480}, author = {Gabrielle Gauvin and Yeo, Caitlin T and Tamas Ungi and Shaila Merchant and Andras Lasso and Doris Jabs and Thomas Vaughan and John Rudan and Ross Walker and Gabor Fichtinger and C. Jay Engel} } @article {Hisey2020b, title = {Recognizing workflow tasks in central venous catheterization using convolutional neural networks and reinforcement learning}, year = {2020}, month = {06/2020}, pages = {94-95}, author = {R. Hisey and Brian Chen and Daenis Camire and Jason Erb and Daniel Howes and Gabor Fichtinger and Tamas Ungi} } @article {Hisey2020a, title = {Reinforcement learning approach for video-based task recognition in central venous catheterization}, year = {2020}, month = {06/2020}, author = {R. Hisey and Brian Chen and Tamas Ungi and Daenis Camire and Jason Erb and Daniel Howes and Gabor Fichtinger} } @article {Pinter2020, title = {SlicerVR for Medical Intervention Training and Planning in Immersive Virtual Reality}, journal = {IEEE Transactions on Medical Robotics and Bionics}, volume = {2}, number = {2}, year = {2020}, month = {03/2020}, pages = {108-117}, abstract = {

Virtual reality (VR) provides immersive visualization that has proved to be useful in a variety of medical applications. Currently, however, no free open-source software platform exists that would provide comprehensive support for translational clinical researchers in prototyping experimental VR scenarios in training, planning or guiding medical interventions. By integrating VR functions in 3D Slicer, an established medical image analysis and visualization platform, SlicerVR enables virtual reality experience by a single click. It provides functions to navigate and manipulate the virtual scene, as well as various settings to abate the feeling of motion sickness. SlicerVR allows for shared collaborative VR experience both locally and remotely. We present illustrative scenarios created with SlicerVR in a wide spectrum of applications, including echocardiography, neurosurgery, spine surgery, brachytherapy, intervention training and personalized patient education. SlicerVR is freely available under BSD type license as an extension to 3D Slicer and it has been downloaded over 7,800 times at the time of writing this article.

}, doi = {10.1109/TMRB.2020.2983199}, author = {Csaba Pinter and Andras Lasso and Saleh Choueib and Mark Asselin and Jean-ChristopheC. Fillion-Robin and Jean-Baptiste Vimort and Ken Martin and MatthewA Jolley and Gabor Fichtinger} } @conference {BarrC2020, title = {Towards portable image guidance and automatic patient registration using an RGB-D camera and video projector}, booktitle = {Medical Imaging 2020: Image-Guided Procedures, Robotic Interventions and Modeling}, volume = {11315}, year = {2020}, publisher = {SPIE}, organization = {SPIE}, address = {Houston, Texas, United States}, doi = {10.1117/12.2549723}, author = {Colton Barr and Andras Lasso and Mark Asselin and Steve Pieper and Faith C. Robertson and William B. Gormley and Gabor Fichtinger} } @article {Pinter2020a, title = {Using Fuzzy Logics to Determine Optimal Oversampling Factor for Voxelizing 3D Surfaces in Radiation Therapy}, journal = {Soft Computing}, year = {2020}, month = {06/2020}, doi = {10.1007/s00500-020-05126-w}, url = {https://link.springer.com/article/10.1007/s00500-020-05126-w}, author = {Csaba Pinter and Tim Olding and L. John Schreiner and Gabor Fichtinger} } @article {Wu2020b, title = {Using multiple frame U-net for automated segmentation of spinal ultrasound images}, year = {2020}, url = {https://www.imno.ca/sites/default/files/ImNO2020Proceedings.pdf}, author = {Victoria Wu and Tamas Ungi and Kyle R. Sunderland and Grace Pigeau and Abigael Schonewille and Gabor Fichtinger} } @conference {CWu2020, title = {Workflow for creation and evaluation of virtual nephrolithotomy training models}, booktitle = {SPIE Medical Imaging Conference 2020}, volume = {11315}, year = {2020}, month = {03/2020}, doi = {10.1117/12.2549354}, author = {Wu, Catherine O. and Kyle R. Sunderland and Filippov, Mihail and Sainsbury, Ben and Gabor Fichtinger and Tamas Ungi} } @conference {Laframboise2019a, title = {Analyzing the curvature of the colon in different patient positions}, booktitle = {SPIE Medical Imaging 2019: Image-Guided Procedures, Robotic Interventions, and Modeling}, volume = {10951}, year = {2019}, month = {03/2019}, address = {San Diego, California}, author = {Jacob Laframboise and Tamas Ungi and Andras Lasso and Mark Asselin and M. Holden and Tan, Pearl and Lawrence Hookey and Gabor Fichtinger} } @conference {Choueib2019b, title = {Assessment of immersive medical virtual reality visualization using 3D Slicer}, booktitle = {17th Annual Imaging Network Ontario Symposium (ImNO)}, year = {2019}, month = {03/2019}, address = {London, Ontario}, keywords = {3D Slicer, Planning, SlicerVR, training, Virtual Reality}, author = {Saleh Choueib and Csaba Pinter and Andras Lasso and Jean-ChristopheC. Fillion-Robin and Jean-Baptiste Vimort and Ken Martin and Gabor Fichtinger} } @article {Baum2019b, title = {Assessment of intraoperative neurosurgical planning with the Microsoft HoloLens}, year = {2019}, publisher = {Imaging Network Ontario (ImNO)}, address = {London, Ontario}, author = {Zachary M C Baum and Sarah Ryan and Emily Rae and Andras Lasso and Tamas Ungi and Ron Levy and Gabor Fichtinger} } @article {Baum2020, title = {Augmented reality training platform for neurosurgical burr hole localization}, journal = {Journal of Medical Robotics Research}, volume = {4}, number = {3-4}, year = {2019}, month = {01/2020}, pages = {1942001-1 - 1942001-13}, type = {Special Issue}, abstract = {

Augmented reality (AR) is used in neurosurgery to visualize lesions and plan procedures pre-operatively and intra-operatively, though its use has not been widely adopted in simulation-based neurosurgical training for the same tasks. This work defines metrics to determine performance in drill position and angle identification for neurosurgical training. The metrics were validated intra-operatively and in a simulated training environment, demonstrating that trainees identify drill position and angle faster and more accurately with AR compared to standard techniques. Training using AR and the proposed metrics stands to add value to neurosurgical curricula development.

}, keywords = {augmented reality, competency-based medical education, holography, neurosurgery, surgical planning, visualization}, doi = {https://doi.org/10.1142/S2424905X19420017}, author = {Zachary M C Baum and Andras Lasso and Sarah Ryan and Tamas Ungi and Emily Rae and Boris Zevin and Ron Levy and Gabor Fichtinger} } @article {Hisey2019, title = {Comparison of convolutional neural networks for central venous catheterization tool detection}, year = {2019}, month = {03/2019}, address = {Toronto, Ontario}, author = {R. Hisey and Tamas Ungi and Daenis Camire and Jason Erb and Daniel Howes and Gabor Fichtinger} } @conference {Lund2019a, title = {Controlling virtual views in navigated breast conserving surgery}, booktitle = {SPIE Medical Imaging 2019}, year = {2019}, abstract = {

PURPOSE: Lumpectomy is the resection of a tumor in the breast while retaining as much healthy tissue as possible.
Navigated lumpectomy seeks to improve on the traditional technique by employing computer guidance to achieve the
complete excision of the cancer with optimal retention of healthy tissue. Setting up navigation in the OR relies on the
manual interactions of a trained technician to align three-dimensional virtual views to the patient{\textquoteright}s physical position
and maintain their alignment throughout surgery. This work develops automatic alignment tools to improve the
operability of navigation software for lumpectomies.
METHODS: Preset view buttons were developed to refine view setup to a single interaction. These buttons were
tested by measuring the reduction in setup time and the number of manual interactions avoided through their use. An
auto-center feature was created to ensure that three-dimensional models of anatomy and instruments were in the center
of view throughout surgery. Recorded data from 32 lumpectomy cases were replayed and the number of auto-center
view shifts was counted from the first cautery incision until the completion of the excision of cancerous tissue.
RESULTS: View setup can now be performed in a single interaction compared to an average of 13 interactions
(taking 83 seconds) when performed manually. The auto-center feature was activated an average of 33 times in the
cases studied (n=32).
CONCLUSION: The auto-center feature enhances the operability of the surgical navigation system, reducing the
number of manual interactions required by a technician during the surgery. This feature along with preset camera view
options are instrumental in the shift towards a completely surgeon-operable navigated lumpectomy system.

}, author = {Shaun Lund and Thomas Vaughan and Tamas Ungi and Andras Lasso and Mark Asselin and Caitlin Yeo and C. Jay Engel and Gabor Fichtinger} } @article {Wu2019b, title = {Detection of Spinal Ultrasound Landmarks Using Convolutional Neural Networks}, volume = {14}, year = {2019}, publisher = {Int J CARS}, address = {Rennes, France}, doi = {https://doi.org/10.1007/s11548-019-01969-3}, author = {Victoria Wu and Mark Asselin and Tamas Ungi and Gabor Fichtinger} } @article {NGUYEN2019, title = {Dynamic Three-Dimensional Geometry of the Tricuspid Valve Annulus in Hypoplastic Left Heart Syndrome with a Fontan Circulation}, journal = {Journal of the American Society of Echocardiography}, year = {2019}, abstract = {

Background Tricuspid regurgitation (TR) is a significant contributor to morbidity and mortality in patients with hypoplastic left heart syndrome. The goal of this study was to characterize the dynamic annular motion of the tricuspid valve in patients with HLHS with a Fontan circulation and assess the relation to tricuspid valve function. Methods Tricuspid annuli of 48 patients with HLHS with a Fontan circulation were modeled at end-diastole, mid-systole, end-systole, and mid-diastole using transthoracic three-dimensional echocardiography and custom code in 3D Slicer. The angle of the anterior papillary muscle (APM) relative to the annular plane in each systolic phase was also measured. Results Imaging was performed 5.0\ years (interquartile range, 2{\textendash}11\ years) after Fontan operation. The tricuspid annulus varies in shape significantly throughout the cardiac cycle, changing in sphericity (P\ \<\ .001) but not in annular height or bending angle. In univariate modeling, patients with significant TR had larger changes in septolateral diameter, lateral quadrant area, and posterior quadrant area (P\ \<\ .05 for all) as well as lower (more laterally directed) APM angles (P\ \<\ .001) than patients with mild or less TR. In multivariate modeling, a 1\ mm/(body surface area)0.5 increase in the maximum change in septolateral diameter was associated with a 1.7-fold increase in having moderate or greater TR, while a 10{\textdegree} decrease in APM angle at mid-systole was associated with an almost 2.5-fold increase in moderate or greater TR (P\ <=\ .01 for all). Conclusions The tricuspid annulus in patients with HLHS with a Fontan circulation changes in shape significantly throughout the cardiac cycle but remains relatively planar. Increased change in septolateral diameter and decreased APM angle are strongly associated with the presence of TR. These findings may inform annuloplasty methods and subvalvular interventions in these complex patients.

}, keywords = {Congenital heart disease, Echocardiography, Valvular heart disease}, issn = {0894-7317}, doi = {https://doi.org/10.1016/j.echo.2019.01.002}, url = {http://www.sciencedirect.com/science/article/pii/S0894731719300021}, author = {Alexander V. Nguyen and Andras Lasso and HannahH Nam and Jennifer Faerber and Ahmed H. Aly and Alison M. Pouch and Adam B. Scanlan and FrancisX McGowan and Laura Mercer-Rosa and Meryl S. Cohen and John Simpson and Gabor Fichtinger and MatthewA Jolley} } @article {Lasso2019, title = {Enhance medical software applications with immersive virtual reality experience}, year = {2019}, month = {10/2019}, address = {Toronto, ON, Canada}, author = {Andras Lasso and Csaba Pinter and Saleh Choueib and Tamas Ungi and Gabor Fichtinger} } @conference {Choueib2019a, title = {Evaluation of 3D Slicer as a medical virtual reality visualization platform}, booktitle = {SPIE Medical Imaging 2019: Image-Guided Procedures, Robotic Interventions, and Modeling}, volume = {10951}, number = {38}, year = {2019}, month = {03/2019}, publisher = {SPIE Medical Imaging}, organization = {SPIE Medical Imaging}, address = {San Diego, California }, keywords = {3D Slicer, Planning, SlicerVR, training, Virtual Reality}, author = {Saleh Choueib and Csaba Pinter and Andras Lasso and Jean-ChristopheC. Fillion-Robin and Jean-Baptiste Vimort and Ken Martin and Gabor Fichtinger} } @conference {Connolly2019a, title = {Mechanically-Controlled Spectroscopic Imaging for Tissue Classification}, booktitle = {SPIE Medical Imaging 2019: Image-Guided Procedures, Robotic Interventions, and Modeling}, volume = {10951}, year = {2019}, month = {03/2019}, address = {San Diego, California}, doi = {https://doi.org/10.1117/12.2512481}, author = {Laura Connolly and Tamas Ungi and Andras Lasso and Thomas Vaughan and Mark Asselin and Parvin Mousavi and Scott Yam and Gabor Fichtinger} } @article {House2019a, title = {Monitoring volume changes for breast reconstruction surgery using three dimensional optical surface scanning}, year = {2019}, address = {St. Johns, Newfoundland}, author = {Rachael House and M. Kunz and Chantal Valiquette and Andras Lasso and Tamas Ungi and John Rudan and Glykeria Martou and Gabor Fichtinger} } @conference {Asselin2019a, title = {Navigated real-time molecular analysis in the operating theatre, demonstration of concept}, booktitle = {SPIE Medical Imaging 2019}, year = {2019}, abstract = {

PURPOSE: In the operating theatre surgeons are accustomed to using spatially navigated tools in conjunction with
standard clinical imaging during a procedure. This gives them a good idea where they are in the patients{\textquoteright} anatomy but
doesn{\textquoteright}t provide information about the type of tissue they are dissecting. In this paper we demonstrate an integrated
system consisting of a spatially navigated surgical electrocautery combined with real-time molecular analysis of the
dissected tissue using mass spectrometry.
METHODS: Using the 3D Slicer software package, we have integrated a commercially available neurosurgical
navigation system with an intra-operative mass spectrometer (colloquially referred to as the intelligent knife, or iKnife)
that analyzes the charged ions in the smoke created during cauterization. We demonstrate this system using a simulated
patient comprised of an MRI scan from a brain cancer patient deformably registered to a plastic skull model. On the
skull model we placed porcine and bovine tissues to simulate cancerous and healthy tissue, respectively. We built a
PCA/LDA model to distinguish between these tissue types. The tissue classifications were displayed in a spatially
localized manner in the pre-operative imaging, in both 2D and 3D views.
RESULTS: We have demonstrated the feasibility of performing spatially navigated intra-operative analysis of tissues by
mass spectrometry. We show that machine learning can classify our sample tissues, with an average computed
confidence of 99.37 \% for porcine tissue and 99.36\% for bovine tissue.
CONCLUSION: In this paper we demonstrate a proof of concept system for navigated intra-operative molecular
analysis. This system may enable intra-operative awareness of spatially localized tissue classification during dissection,
information that is especially useful in tumor surgeries where margins may not be visible to the unassisted eye.
Keywords: image guided therapy, intra-operative mass spectrometry, iKnife, 3D Slicer, open-source, rapid evaporative
ionization mass spectrometry (REIMS)

}, author = {Mark Asselin and Martin Kaufmann and Julia Wiercigroch and Tamas Ungi and Andras Lasso and John Rudan and Gabor Fichtinger} } @article {Vaughan2019a, title = {Needle Navigation and Catheter Reconstruction for Breast Brachytherapy Using Open Source Software}, journal = {Acta Polytechnica Hungarica}, volume = {16}, number = {8}, year = {2019}, month = {09/2019}, pages = {99-118}, abstract = {

Abstract: Interstitial breast brachytherapy is a method to deliver radiation therapy directly to the site of cancer. It is a challenging procedure because of issues in localizing the seroma, needles, and catheters within the soft tissue. In this paper we present two open-source technologies based on electromagnetic tracking: a navigation system to help target needles using a tracked needle guide, and software for electromagnetic reconstruction of catheter paths. These technologies were validated phantom studies. We found that the navigation system helped a radiation oncologist to target needles more accurately than under ultrasound guidance (60 needles under each condition, 3.8 vs 3.3 mm placement error, p = 0.04) and that reconstructed catheter paths were accurate within 0.6 mm to those determined on CT scans (144 catheters were compared to the 1.2 mm voxel size of CT scans, p \< 0.001). We conclude that these technologies accurately localize anatomy and instruments in our study.

}, author = {Thomas Vaughan and H Brastianos and Tamas Ungi and Andras Lasso and Conrad Falkson and Gabor Fichtinger} } @article {Pinter2019, title = {Polymorph Segmentation Representation for Medical Image Computing}, journal = {Computer Methods and Programs in Biomedicine}, volume = {171}, year = {2019}, month = {02/2019}, pages = {19-26}, abstract = {

Background and Objective: Segmentation is a ubiquitous operation in medical image computing. Various data representations can describe segmentation results, such as labelmap volumes or surface models. Conversions between them are often required, which typically include complex data processing steps. We identified four challenges related to managing multiple representations: conversion method selection, data provenance, data consistency, and coherence of in-memory objects. Methods: A complex data container preserves identity and provenance of the contained representations and ensures data coherence. Conversions are executed automatically on-demand. A graph containing the implemented conversion algorithms determines each execution, ensuring consistency between various representations. The design and implementation of a software library are proposed, in order to provide a readily usable software tool to manage segmentation data in multiple data representations. A low-level core library called PolySeg implemented in The Visualization Toolkit (VTK) manages the data objects and conversions. It is used by a high-level application layer, which has been implemented in the medical image visualization and analysis platform 3D Slicer. The application layer provides advanced visualization, transformation, interoperability, and other functions. Results: The core conversion algorithms comprising the graph were validated. Several applications were implemented based on the library, demonstrating advantages in terms of usability and ease of software development in each case. The Segment Editor application provides fast, comprehensive, and easy-to-use manual and semi-automatic segmentation workflows. Clinical applications for gel dosimetry, external beam planning, and MRI-ultrasound image fusion in brachytherapy were rapidly prototyped resulting robust applications that are already in use in clinical research. The conversion algorithms were found to be accurate and reliable using these applications. Conclusions:\  A generic software library has been designed and developed for automatic management of multiple data formats in segmentation tasks. It enhances both user and developer experience, enabling fast and convenient manual workflows and quicker and more robust software prototyping. The software{\textquoteright}s BSD-style open-source license allows complete freedom of use of the library.

}, keywords = {3D Slicer, DICOM, Open-source, segmentation, Software library, Voxelization}, doi = {https://doi.org/10.1016/j.cmpb.2019.02.011}, author = {Csaba Pinter and Andras Lasso and Gabor Fichtinger} } @article {Laframboise2019b, title = {Quantifying the effect of patient position on the curvature of colons}, year = {2019}, publisher = {Imaging Network Ontario (ImNO)}, address = {London, Ontario}, keywords = {colonoscopy, CT, curvature, curves}, author = {Jacob Laframboise and Tamas Ungi and Andras Lasso and Mark Asselin and M. Holden and Tan, Pearl and Lawrence Hookey and Gabor Fichtinger} } @conference {Perrin2019a, title = {Reproducibility of freehand calibrations for ultrasound-guided needle navigation}, booktitle = {SPIE Medical Imaging 2019: Image-Guided Procedures, Robotic Interventions, and Modeling}, volume = {10951}, year = {2019}, address = {San Diego, California}, author = {Sydney Perrin and Zachary M C Baum and Mark Asselin and Underwood, Grace and Saleh Choueib and H. Lia and Tamas Ungi and Andras Lasso and Gabor Fichtinger} } @article {Isen2019a, title = {Retraining MobileNet with highly variable data for tool detection in central venous catheterization}, year = {2019}, publisher = {Imaging Network Ontario (ImNO)}, address = {London, Ontario}, author = {Jonah Isen and R. Hisey and Tamas Ungi and Gabor Fichtinger} } @conference {Pinter2019a, title = {SlicerVR for image-guided therapy planning in immersive virtual reality}, booktitle = {The 12th Hamlyn Symposium on Medical Robotics, 23-26 June 2019, Imperial College, London, UK}, year = {2019}, month = {06/2019}, pages = {91-92}, address = {London, UK}, author = {Csaba Pinter and Andras Lasso and Mark Asselin and Jean-ChristopheC. Fillion-Robin and Jean-Baptiste Vimort and Ken Martin and Gabor Fichtinger} } @conference {Baum2019a, title = {Step-wise identification of ultrasound-visible anatomical landmarks for 3D visualization of scoliotic spine}, booktitle = {SPIE Medical Imaging 2019: Image-Guided Procedures, Robotic Interventions, and Modeling}, volume = {10951}, year = {2019}, month = {03/2019}, address = {San Diego, California}, author = {Zachary M C Baum and Ben Church and Andras Lasso and Tamas Ungi and Christopher Schlenger and Daniel P. Borschneck and Parvin Mousavi and Gabor Fichtinger} } @article {Lia2019a, title = {Usability and accuracy of an electromagnetically tracked partial nephrectomy navigation system}, year = {2019}, month = {03/2019}, author = {H. Lia and Zachary M C Baum and Thomas Vaughan and Tamas Ungi and McGregor, T. and Gabor Fichtinger} } @article {Wu2019a, title = {Using Deep Learning for Transverse Process Detection in Spinal Ultrasounds}, year = {2019}, publisher = {Imaging Network Ontario (ImNO)}, address = {London, Ontario}, author = {Victoria Wu and Tamas Ungi and Gabor Fichtinger} } @article {Isen2019b, title = {Utilizing a convolutional neural network for tool detection in central venous catheterization}, year = {2019}, publisher = {Int J CARS}, address = {Rennes, France}, author = {Jonah Isen and R. Hisey and Tamas Ungi and Gabor Fichtinger} } @conference {Wiercigroch2019, title = {Validation of a low-cost adjustable, handheld needle guide for spine interventions}, booktitle = {SPIE Medical Imaging 2019: Image-Guided Procedures, Robotic Interventions, and Modeling}, volume = {10951}, year = {2019}, month = {03/2019}, address = {San Diego, California}, keywords = {3D printing, MR-guided, needle guidance, spinal injection}, author = {Wiercigroch, Julia and Zachary M C Baum and Tamas Ungi and Jan Fritz and Gabor Fichtinger} } @article {GarciaMato2018a, title = {3D Gaze tracking for skill assessment in ultrasound-guided needle insertions}, volume = {13}, year = {2018}, month = {06/2018}, pages = {S52-S53}, publisher = {Springer}, address = {Berlin, Germany}, doi = {https://doi.org/10.1007/s11548-018-1766-y}, author = {D. Garc{\'\i}a-Mato and M. Holden and Andras Lasso and A. Szulewski and Javier Pascau and Gabor Fichtinger} } @article {Ilina2018a, title = {3D Surface Scanning for Tumour Localization in Non-Melanoma Skin Cancer}, year = {2018}, month = {03/2018}, address = {Toronto, Canada}, author = {Anna Ilina and Csaba Pinter and Andras Lasso and Ingrid Lai and C.P. Joshi and Kevin Alexander and L. John Schreiner and Timothy Hanna and Gabor Fichtinger} } @article {Rae2018b, title = {Accuracy of the Microsoft HoloLens for neurosurgical burr hole placement}, year = {2018}, address = {Toronto, Canada}, author = {Emily Rae and Andras Lasso and M. Holden and Evelyn Morin and Ron Levy and Gabor Fichtinger} } @article {Hisey2018b, title = {Assessment of the use of webcam based workflow detection for providing real-time feedback in central venous catheterization training}, year = {2018}, author = {R. Hisey and Tamas Ungi and M. Holden and Zachary M C Baum and Keri, Zsuzsanna and Caitlin McCallum and Daniel Howes and Gabor Fichtinger} } @article {Lia2018b, title = {Basic suturing training using Microsoft HoloLens}, year = {2018}, month = {03/2018}, address = {Toronto, ON}, author = {H. Lia and Paulin, Gregory and Yeo, Caitlin T and Andrews, Jessica and Yi, Nelson and Haq, Hassan and Emmanuel, Steve and Ludig, Kristian and Keri, Zsuzsanna and Andras Lasso and Gabor Fichtinger} } @article {House2018b, title = {Breast volume computation for planning and monitoring fat grafting}, year = {2018}, author = {Rachael House and Andras Lasso and M. Kunz and John Rudan and Glykeria Martou and Gabor Fichtinger} } @article {House2018a, title = {Breast volume measurement using three-dimensional surface scan for fat grafting planning and monitoring}, year = {2018}, author = {Rachael House and Andras Lasso and M. Kunz and John Rudan and Glykeria Martou and Gabor Fichtinger} } @article {Holden2018b, title = {Configurable Overall Skill Assessment in Ultrasound-Guided Needle Insertion}, year = {2018}, month = {03/2018}, address = {Toronto, Canada}, author = {M. Holden and H. Lia and Sean Xia and Keri, Zsuzsanna and Tamas Ungi and Gabor Fichtinger} } @conference {Lia2018a, title = {HoloLens in Suturing Training}, booktitle = {SPIE Medical Imaging 2018: Image-Guided Procedures, Robotic Interventions, and Modeling}, year = {2018}, month = {03/2018}, address = {Houston, Texas}, author = {H. Lia and Paulin, Gregory and Yeo, Caitlin T and Andrews, Jessica and Yi, Nelson and Haq, Hassan and Emmanuel, Steve and Ludig, Kristian and Keri, Zsuzsanna and Andras Lasso and Gabor Fichtinger} } @article {Lasso2018, title = {Interaction with Volume-Rendered Three-Dimensional Echocardiographic Images in Virtual Reality}, journal = {J Am Soc Echocardiogr}, volume = {31}, number = {10}, year = {2018}, month = {10}, pages = {1158-60{\textendash}}, abstract = {

Three-dimensional (3D) imaging is increasingly important in echocardiography. However, viewing of 3D images on a flat, two-dimensional screen is a barrier to comprehension of latent information. There have been previous attempts to visualize the full 3D nature of the data, but they have not been widely adopted. For example, 3D printing offers realistic interaction but is time consuming, has limited means for the observer to move into or through the model, and is not yet practical for routine clinical use. Furthermore, the heart beats, and 3D printed models are static. Stereoscopic viewing on 2D screens (as at a movie theater) is possible but is expensive, may not provide an immersive experience, and does not have integrated 3D input devices (controllers).

}, author = {Andras Lasso and HannahH Nam and PatrickV Dinh and Csaba Pinter and Jean-ChristopheC. Fillion-Robin and Steve Pieper and Sankhesh Jhaveri and Jean-Baptiste Vimort and Ken Martin and Mark Asselin and FrancisX McGowan and Ron Kikinis and Gabor Fichtinger and MatthewA Jolley} } @conference {Emily2018a, title = {Neurosurgical burr hole placement using the Microsoft HoloLens}, booktitle = {SPIE Medical Imaging 2018: Image-Guided Procedures, Robotic Interventions, and Modeling}, volume = {10576}, year = {2018}, month = {03/2018}, pages = {105760T}, address = {Houston, Texas}, doi = {10.1117/12.2293680}, author = {Emily Rae and Andras Lasso and M. Holden and Evelyn Morin and Ron Levy and Gabor Fichtinger} } @article {Holden2018a, title = {Objective assessment of colonoscope manipulation skills in colonoscopy training}, journal = {International Journal of Computer Assisted Radiology and Surgery}, volume = {13}, number = {1}, year = {2018}, month = {01/2018}, pages = {105-114}, doi = {https://doi.org/10.1007/s11548-017-1676-4}, author = {M. Holden and Chang Wang and Kyle MacNeil and Ben Church and Lawrence Hookey and Gabor Fichtinger and Tamas Ungi} } @article {Pinter2018a, title = {Real-time transverse process delineation in tracked ultrasound for scoliosis measurement}, year = {2018}, month = {03/2018}, address = {Toronto, Canada}, author = {Csaba Pinter and Bryan Travers and Zachary M C Baum and Tamas Ungi and Andras Lasso and Ben Church and Gabor Fichtinger} } @conference {Pinter2018, title = {Real-time transverse process detection in ultrasound}, booktitle = {SPIE Medical Imaging 2018: Image-Guided Procedures, Robotic Interventions, and Modeling}, year = {2018}, month = {03/2018}, address = {Houston, Texas}, author = {Csaba Pinter and Bryan Travers and Zachary M C Baum and Shahrokh Kamali and Tamas Ungi and Andras Lasso and Ben Church and Gabor Fichtinger} } @conference {Hisey2018, title = {Real-time workflow detection using webcam video for providing real-time feedback in central venous catheterization training}, booktitle = {SPIE Medical Imaging 2018: Image-Guided Procedures, Robotic Interventions, and Modeling}, year = {2018}, author = {R. Hisey and Tamas Ungi and M. Holden and Zachary M C Baum and Keri, Zsuzsanna and Caitlin McCallum and Daniel Howes and Gabor Fichtinger} } @article {Holden2018c, title = {Self-guided training for deep brain stimulation planning using objective assessment}, journal = {International Journal of Computer Assisted Radiology and Surgery}, volume = {13}, number = {7}, year = {2018}, month = {07/2018}, pages = {1129-1139}, doi = {https://doi.org/10.1007/s11548-018-1753-3}, author = {M. Holden and Yulong Zhao and Claire Haegelen and Caroline Essert and Sara Fernanez-Vidal and Eric Bardinet and Tamas Ungi and Gabor Fichtinger and Pierre Jannin} } @article {Alexander2018, title = {Streamlined open-source gel dosimetry analysis in 3D slicer}, journal = {Biomedical Physics \& Engineering Express}, volume = {4}, number = {4}, year = {2018}, month = {07/2018}, pages = {045041}, abstract = {

Three dimensional dosimetry is being used in an increasingly wide variety of clinical applications as more gel and radiochromic plastic dosimeters become available. However, accessible 3D dosimetry analysis tools have not kept pace. 3D dosimetry data analysis is time consuming and laborious, creating a barrier to entry for busy clinical environments. To help in the adoption of 3D dosimetry, we have produced a streamlined, open-source dosimetry analysis system by developing a custom extension in 3D Slicer, called the Gel Dosimetry Analysis slicelet, which enables rapid and accurate data analysis. To assist those interested in adopting 3D dosimetry in their clinic or those unfamiliar with what is involved in a 3D dosimeter experiment, we first present the workflow of a typical gel dosimetry experiment. This is followed by the results of experiments used to validate, step-wise, each component of our software. Overall, our software has made a full 3D gel dosimeter analysis roughly 20 times faster than previous analysis systems.

}, keywords = {3d dosimetry, gel dosimetry, Radiation therapy}, doi = {https://doi.org/10.1088/2057-1976/aad0cf}, url = {http://stacks.iop.org/2057-1976/4/i=4/a=045041}, author = {Kevin Alexander and Csaba Pinter and Gabor Fichtinger and Tim Olding and L. John Schreiner} } @article {Ilina2018b, title = {Target Definition with 3D Surface Scanning for Orthovoltage Radiation Therapy Planning}, year = {2018}, address = {Berlin, Germany}, author = {Anna Ilina and Csaba Pinter and Andras Lasso and Ingrid Lai and C.P. Joshi and Kevin Alexander and L. John Schreiner and Timothy Hanna and Gabor Fichtinger} } @article {doi:10.1002/ccd.27962, title = {Toward predictive modeling of catheter-based pulmonary valve replacement into native right ventricular outflow tracts}, journal = {Catheterization and Cardiovascular Interventions}, year = {2018}, month = {11/2018}, abstract = {

Abstract Background Pulmonary insufficiency is a consequence of transannular patch repair in Tetralogy of Fallot (ToF) leading to late morbidity and mortality. Transcatheter native outflow tract pulmonary valve replacement has become a reality. However, predicting a secure, atraumatic implantation of a catheter-based device remains a significant challenge due to the complex and dynamic nature of the right ventricular outflow tract (RVOT). We sought to quantify the differences in compression and volume for actual implants, and those predicted by pre-implant modeling. Methods We used custom software to interactively place virtual transcatheter pulmonary valves (TPVs) into RVOT models created from pre-implant and post Harmony valve implant CT scans of 5 ovine surgical models of TOF to quantify and visualize device volume and compression. Results Virtual device placement visually mimicked actual device placement and allowed for quantification of device volume and radius. On average, simulated proximal and distal device volumes and compression did not vary statistically throughout the cardiac cycle (P = 0.11) but assessment was limited by small sample size. In comparison to actual implants, there was no significant pairwise difference in the proximal third of the device (P \> 0.80), but the simulated distal device volume was significantly underestimated relative to actual device implant volume (P = 0.06). Conclusions This study demonstrates that pre-implant modeling which assumes a rigid vessel wall may not accurately predict the degree of distal RVOT expansion following actual device placement. We suggest the potential for virtual modeling of TPVR to be a useful adjunct to procedural planning, but further development is needed.

}, keywords = {Magnetic Resonance Imaging, percutaneous pulmonary valve implantation, prosthetic heart valve, tetralogy of Fallot}, doi = {10.1002/ccd.27962}, url = {https://onlinelibrary.wiley.com/doi/abs/10.1002/ccd.27962}, author = {MatthewA Jolley and Andras Lasso and HannahH Nam and Dinh, Patrick V. and Adam B. Scanlan and Alexander V. Nguyen and Anna Ilina and Morray, Brian and Glatz, Andrew C. and FrancisX McGowan and Whitehead, Kevin and Dori, Yoav and Robert C. Gorman and Robert C. Gorman and Gabor Fichtinger and Gillespie, Matthew J.} } @conference {Asselin2018a, title = {Towards webcam-based tracking for interventional navigation}, booktitle = {SPIE Medical Imaging 2018: Image-Guided Procedures, Robotic Interventions, and Modeling}, year = {2018}, month = {03/2018}, address = {Houston, Texas}, author = {Mark Asselin and Andras Lasso and Tamas Ungi and Gabor Fichtinger} } @conference { Asselin2018c, title = {A Training Tool for Ultrasound-Guided Central Line Insertion with Webcam-Based Position Tracking}, booktitle = {Simulation, Image Processing, and Ultrasound Systems for Assisted Diagnosis and Navigation}, year = {2018}, abstract = {

PURPOSE: This paper describes an open-source ultrasound-guided central line insertion training system. Modern clinical guidelines are increasingly recommending ultrasound guidance for this procedure due to the decrease in morbidity it provides. However, there are no adequate low-cost systems for helping new clinicians train their inter-hand coordination for this demanding procedure. METHODS: This paper details a training platform which can be recreated with any standard ultrasound machine using inexpensive components. We describe the hardware, software, and calibration procedures with the intention that a reader can recreate this system themselves. RESULTS: The reproducibility and accuracy of the ultrasound calibration for this system was examined. We found that across the ultrasound image the calibration error was less than 2\ mm. In a small feasibility study, two participants performed 5 needle insertions each with an average of slightly above 2\ mm error. CONCLUSION: We conclude that the accuracy of the system is sufficient for clinician training.

}, doi = {10.1007/978-3-030-01045-4_2}, url = {http://dx.doi.org/10.1007/978-3-030-01045-4_2}, author = {Mark Asselin and Tamas Ungi and Andras Lasso and Gabor Fichtinger} } @article {Baum2018b, title = {Ultrasound-based vertebral landmark localization using deformable spine models}, year = {2018}, publisher = {Imaging Network Ontario (ImNO)}, address = {Toronto, Canada}, author = {Zachary M C Baum and Tamas Ungi and Andras Lasso and Ben Church and Christopher Schlenger and Gabor Fichtinger} } @article {Yeo2017, title = {Utility of 3D Reconstruction of 2D Liver Computed Tomography/Magnetic Resonance Images as a Surgical Planning Tool for Residents in Liver Resection Surgery}, journal = {Journal of Surgical Education}, volume = {75}, number = {3}, year = {2018}, month = {08/2017}, pages = {792-797}, abstract = {

Objective

A fundamental aspect of surgical planning in liver resections is the identification of key vessel tributaries to preserve healthy liver tissue while fully resecting the tumor(s). Current surgical planning relies primarily on the surgeon{\textquoteright}s ability to mentally reconstruct 2D computed tomography/magnetic resonance (CT/MR) images into 3D and plan resection margins. This creates significant cognitive load, especially for trainees, as it relies on image interpretation, anatomical and surgical knowledge, experience, and spatial sense. The purpose of this study is to determine if 3D reconstruction of preoperative CT/MR images will assist resident-level trainees in making appropriate operative plans for liver resection surgery.

Design

Ten preoperative patient CT/MR images were selected. Images were case-matched, 5 to 2D planning and 5 to 3D planning. Images from the 3D group were segmented to create interactive digital models that the resident can manipulate to view the tumor(s) in relation to landmark hepatic structures. Residents were asked to evaluate the images and devise a surgical resection plan for each image. The resident alternated between 2D and 3D planning, in a randomly generated order. The primary outcome was the accuracy of resident{\textquoteright}s plan compared to expert opinion. Time to devise each surgical plan was the secondary outcome. Residents completed a prestudy and poststudy questionnaire regarding their experience with liver surgery and the 3D planning software.

Setting and Participants

Senior level surgical residents from the Queen{\textquoteright}s University General Surgery residency program were recruited to participate.

Results

A total of 14 residents participated in the study. The median correct response rate was 2 of 5 (40\%; range: 0-4) for the 2D group, and 3 of 5 (60\%; range: 1-5) for the 3D group (p \< 0.01). The average time to complete each plan was 156 {\textpm} 107 seconds for the 2D group, and 84 {\textpm} 73 seconds for the 3D group (p \< 0.01). A total 13 of 14 residents found the 3D model easier to use than the 2D. Most residents noticed a difference between the 2 modalities and found that the 3D model improved their confidence with the surgical plan proposed.

Conclusions

The results of this study show that 3D reconstruction for liver surgery planning increases accuracy of resident surgical planning and decreases amount of time required. 3D reconstruction would be a useful model for improving trainee understanding of liver anatomy and surgical resection, and would serve as an adjunct to current 2D planning methods. This has the potential to be developed into a module for teaching liver surgery in a competency-based medical curriculum.

}, doi = {http://dx.doi.org/10.1016/j.jsurg.2017.07.031}, author = {Yeo, Caitlin T and MacDonald, Andrew and Tamas Ungi and Andras Lasso and Diederick Jalink and Boris Zevin and Gabor Fichtinger and Nanji, Sulaiman} } @article {Poulin2017b, title = {Validation of MRI to TRUS registration for HDR prostate brachytherapy}, journal = {Brachytherapy}, volume = {17}, number = {2}, year = {2018}, month = {2018/04}, pages = {283-290}, abstract = {

Purpose: The objective of this study was to develop and
validate an open-source module for MRI to transrectal ultrasound (TRUS)
registration to support tumor-targeted prostate brachytherapy.

Methods and Materials: In this study, fifteen patients with prostate
cancer lesions visible on multiparametric MRI were selected for the
validation. T2-weighted images with 1 mm isotropic voxel size and
diffusion weighted images were acquired on a 1.5T Siemens. Three
dimensional (3D) TRUS images with 0.5 mm slice thickness were acquired.
The investigated registration module was incorporated in the open-source
3D Slicer platform and can compute rigid and deformable transformations.
An extension of 3D Slicer, SlicerRT, allows import and export to DICOM-RT
formats. For validation, similarity indices, prostate volumes and
centroid positions were determined in addition to registration errors for
common 3D points identified by an experienced radiation oncologist.

Results: The average time to compute the registration was 35{\textpm}3 seconds.
For the deformable and rigid registration respectively, Dice similarity
coefficients were 0.93{\textpm}0.01 and 0.87{\textpm}0.05 while the 95\% Hausdorff
distance was 2.2{\textpm}0.3 and 4.2{\textpm}1.0 mm. MRI volumes obtained after the rigid
and deformable registration were not statistically different (p\>0.05)
from reference TRUS volumes. For the deformable and rigid registration
respectively, 3D distance error between centroid positions were 0.4{\textpm}0.1
and 2.1{\textpm}1.0 mm while registration errors between common points were
2.3{\textpm}1.1 and 3.5{\textpm}3.2 mm. Deformable registration was found significantly
better (p\<0.05) than rigid registration in all parameters.

Conclusions: An open-source MRI to TRUS registration platform was
validated for integration in the brachytherapy workflow.

}, author = {Eric Poulin and Karim Boudam and Csaba Pinter and Samuel Kadoury and Andras Lasso and Gabor Fichtinger and Cynthia Menard} } @conference {Baum2018a, title = {Visual aid for identifying vertebral landmarks in ultrasound}, booktitle = {SPIE Medical Imaging 2018: Image-Guided Procedures, Robotic Interventions, and Modeling}, volume = {10576}, year = {2018}, month = {03/2018}, pages = {105760Z}, address = {Houston, Texas}, doi = {10.1117/12.2292820}, author = {Zachary M C Baum and Tamas Ungi and Andras Lasso and Ben Church and Christopher Schlenger and Gabor Fichtinger} } @conference {DGarcia-Mato2017a, title = {3D Gaze Tracking based on Eye and Head Pose Tracking}, booktitle = {Hamlyn Symposium on Medical Robotics}, year = {2017}, address = {London, UK}, author = {D. Garc{\'\i}a-Mato and Andras Lasso and A. Szulewski and J. Pascau and Gabor Fichtinger} } @article {Harish2017b, title = {An application of redundant sensors for intraoperative electromagnetic tracking error monitoring}, year = {2017}, address = {London, ON, Canada}, author = {Vinyas Harish and E Bibic and Andras Lasso and M. Holden and Thomas Vaughan and Zachary M C Baum and Tamas Ungi and Gabor Fichtinger} } @article {Holden2017a, title = {Assessing Technical Competency in Simulated Colonoscopy Using Joint Motion Analysis}, year = {2017}, month = {03/2017}, address = {London, Ontario}, author = {M. Holden and Chang Wang and Kyle MacNeil and Ben Church and Lawrence Hookey and Gabor Fichtinger and Tamas Ungi} } @article {Suriyakumar2017b, title = {Collision detection for external beam radiation therapy applications in SlicerRT}, year = {2017}, publisher = {Imaging Network Ontario (ImNO)}, address = {London, Ontario}, author = {Vinith M. Suriyakumar and Renee Xu and Csaba Pinter and Gabor Fichtinger} } @article {Scanlan2017, title = {Comparison of 3D Echocardiogram-Derived 3D Printed Valve Models to Molded Models for Simulated Repair of Pediatric Atrioventricular Valves}, journal = {Pediatric Cardiology}, year = {2017}, month = {Nov}, abstract = {

Mastering the technical skills required to perform pediatric cardiac valve surgery is challenging in part due to limited opportunity for practice. Transformation of 3D echocardiographic (echo) images of congenitally abnormal heart valves to realistic physical models could allow patient-specific simulation of surgical valve repair. We compared materials, processes, and costs for 3D printing and molding of patient-specific models for visualization and surgical simulation of congenitally abnormal heart valves. Pediatric atrioventricular valves (mitral, tricuspid, and common atrioventricular valve) were modeled from transthoracic 3D echo images using semi-automated methods implemented as custom modules in 3D Slicer. Valve models were then both 3D printed in soft materials and molded in silicone using 3D printed {\textquoteleft}{\textquoteleft}negative{\textquoteright}{\textquoteright} molds. Using pre-defined assessment criteria, valve models were evaluated by congenital cardiac surgeons to determine suitability for simulation. Surgeon assessment indicated that the molded valves had superior material properties for the purposes of simulation compared to directly printed valves (p{\th}inspace}\<{\th}inspace}0.01). Patient-specific, 3D echo-derived molded valves are a step toward realistic simulation of complex valve repairs but require more time and labor to create than directly printed models. Patient-specific simulation of valve repair in children using such models may be useful for surgical training and simulation of complex congenital cases.

}, issn = {1432-1971}, doi = {10.1007/s00246-017-1785-4}, url = {https://doi.org/10.1007/s00246-017-1785-4}, author = {Adam B. Scanlan and Alexander V. Nguyen and Anna Ilina and Andras Lasso and Cripe, Linnea and Jegatheeswaran, Anusha and Silvestro, Elizabeth and FrancisX McGowan and Christopher E. Mascio and Fuller, Stephanie and Spray, Thomas L. and Meryl S. Cohen and Gabor Fichtinger and MatthewA Jolley} } @article {Ilina2017b, title = {Creating patient-specific anatomical models from highly elastic materials using 3D-printed molds}, year = {2017}, address = {London, Canada}, keywords = {cardiac, heart, heart valve models, heart valves, molds, pediatric, Phantoms}, author = {Anna Ilina and Andras Lasso and MatthewA Jolley and Brittany Wohler and Alexander V. Nguyen and Adam B. Scanlan and Zachary M C Baum and FrancisX McGowan and Gabor Fichtinger} } @article {Herz2017, title = {dcmqi: An Open Source Library for Standardized Communication of Quantitative Image Analysis Results Using DICOM}, journal = {Cancer Research}, volume = {77}, number = {21}, year = {2017}, month = {11/2017}, pages = {e87{\textendash}e90}, abstract = {

Quantitative analysis of clinical image data is an active area of research that holds promise for precision medicine, early assessment of treatment response, and objective characterization of the disease. Interoperability, data sharing, and the ability to mine the resulting data are of increasing importance, given the explosive growth in the number of quantitative analysis methods being proposed. The Digital Imaging and Communications in Medicine (DICOM) standard is widely adopted for image and metadata in radiology. dcmqi (DICOM for Quantitative Imaging) is a free, open source library that implements conversion of the data stored in commonly used research formats into the standard DICOM representation. dcmqi source code is distributed under BSD-style license. It is freely available as a precompiled binary package for every major operating system, as a Docker image, and as an extension to 3D Slicer. Installation and usage instructions are provided in the GitHub repository at https://github.com/qiicr/dcmqi. Cancer Res; 77(21); e87{\textendash}90. {\textcopyright}2017 AACR.

}, issn = {0008-5472}, doi = {10.1158/0008-5472.CAN-17-0336}, url = {http://cancerres.aacrjournals.org/content/77/21/e87}, author = {Christian Herz and Jean-ChristopheC. Fillion-Robin and Michael Onken and J{\"o}rg Riesmeier and Andras Lasso and Csaba Pinter and Gabor Fichtinger and Steve Pieper and Clunie, David and Ron Kikinis and Andriy Fedorov} } @article {Brastianos2016c, title = {Demonstration of Catheter Insertion Using Electromagnetic Guidance in Breast Brachytherapy}, volume = {Radiother Oncol 123}, year = {2017}, month = {05/2017}, pages = {S91}, author = {Harry Brastianos and Thomas Vaughan and Andras Lasso and Mary Westerland and James Gooding and Tamas Ungi and Gabor Fichtinger and Conrad Falkson} } @article {Vaughan2017b, title = {Electromagnetically-generated catheter paths for breast brachytherapy}, year = {2017}, author = {Thomas Vaughan and Harry Brastianos and Andras Lasso and Tamas Ungi and Conrad Falkson and Gabor Fichtinger} } @article {Baum2017b, title = {Evaluation of a mobile, real-time, tracked augmented reality display for surgical navigation}, year = {2017}, publisher = {Imaging Network Ontario (ImNO)}, address = {London, Canada}, author = {Zachary M C Baum and Tamas Ungi and Andras Lasso and Gabor Fichtinger} } @conference {House2017, title = {Evaluation of the Intel RealSense SR300 camera for image-guided interventions and application in vertebral level localization}, booktitle = {SPIE Medical Imaging }, year = {2017}, author = {Rachael House and Andras Lasso and Vinyas Harish and Zachary M C Baum and Gabor Fichtinger} } @conference {sunderland2017a, title = {Fractional labelmaps for computing accurate dose volume histograms}, booktitle = {SPIE Medical Imaging}, year = {2017}, publisher = {International Society for Optics and Photonics}, organization = {International Society for Optics and Photonics}, abstract = {

PURPOSE: In radiation therapy treatment planning systems, structures are represented as parallel 2D contours. For treatment planning algorithms, structures must be converted into labelmap (i.e. 3D image denoting structure inside/outside) representations. This is often done by triangulated a surface from contours, which is converted into a binary labelmap. This surface to binary labelmap conversion can cause large errors in small structures. Binary labelmaps are often represented using one byte per voxel, meaning a large amount of memory is unused. Our goal is to develop a fractional labelmap representation containing non-binary values, allowing more information to be stored in the same amount of memory.

METHODS: We implemented an algorithm in 3D Slicer, which converts surfaces to fractional labelmaps by creating 216 binary labelmaps, changing the labelmap origin on each iteration. The binary labelmap values are summed to create the fractional labelmap. In addition, an algorithm is implemented in the SlicerRT toolkit that calculates dose volume histograms (DVH) using fractional labelmaps.

RESULTS: We found that with manually segmented RANDO{\textregistered} head and neck structures, fractional labelmaps represented structure volume up to 19.07\% (average 6.81\%) more accurately than binary labelmaps, while occupying the same amount of memory. When compared to baseline DVH from treatment planning software, DVH from fractional labelmaps had agreement acceptance percent (1\% ΔD, 1\% ΔV) up to 57.46\% higher (average 4.33\%) than DVH from binary labelmaps.

CONCLUSION: Fractional labelmaps promise to be an effective method for structure representation, allowing considerably more information to be stored in the same amount of memory

}, author = {Kyle R. Sunderland and Csaba Pinter and Andras Lasso and Gabor Fichtinger} } @conference {DBLP:conf/fimh/PouchALNSMFGGYJ17, title = {Image Segmentation and Modeling of the Pediatric Tricuspid Valve in Hypoplastic Left Heart Syndrome}, booktitle = {Functional Imaging and Modelling of the Heart - 9th International Conference, {FIMH} 2017, Toronto, ON, Canada, June 11-13, 2017, Proceedings}, year = {2017}, pages = {95{\textendash}105}, doi = {10.1007/978-3-319-59448-4_10}, url = {https://doi.org/10.1007/978-3-319-59448-4_10}, author = {Alison M. Pouch and Ahmed H. Aly and Andras Lasso and Alexander V. Nguyen and Adam B. Scanlan and FrancisX McGowan and Gabor Fichtinger and Robert C. Gorman and Robert C. Gorman and Paul A. Yushkevich and MatthewA Jolley} } @article {Moult2017, title = {Improved temporal calibration of tracked ultrasound: an open-source solution}, journal = {Journal of Medical Robotics Research}, volume = {2}, number = {04}, year = {2017}, month = {07/2017}, pages = {1750008}, abstract = {

In tracked ultrasound systems, temporal misalignment between image and tracker data results in incorrect image pose. We present a fully automatic temporal calibration. We image a flat plate in water with a tracked probe undergoing periodic uniaxial freehand translation. Using robust line detection scheme, we compute temporal misalignment as difference between probe and corresponding image position. From 240 sequences, standard deviation was under 5ms for standard imaging parameters. Source code is available in Public Library for Ultrasound Research, PLUS (www.plustoolkit.org).

}, author = {Eric Moult and Andras Lasso and Tamas Ungi and Csaba Pinter and Mattea Welch and Gabor Fichtinger} } @conference {Kamali2017a, title = {Localization of the transverse processes in ultrasound for spinal curvature measurement}, booktitle = {SPIE Medical Imaging}, volume = {10135}, year = {2017}, month = {02/2017}, pages = {101350I-101350I-7}, abstract = {

PURPOSE: In scoliosis monitoring, tracked ultrasound has been explored as a safer imaging alternative to traditional radiography. The use of ultrasound in spinal curvature measurement requires identification of vertebral landmarks such as transverse processes, but as bones have reduced visibility in ultrasound imaging, skeletal landmarks are typically segmented manually, which is an exceedingly laborious and long process. We propose an automatic algorithm to segment and localize the surface of bony areas in the transverse process for scoliosis in ultrasound.METHODS: The algorithm uses cascade of filters to remove low intensity pixels, smooth the image and detect bony edges. By applying first differentiation, candidate bony areas are classified. The average intensity under each area has a correlation with the possibility of a shadow, and areas with strong shadow are kept for bone segmentation. The segmented images are used to reconstruct a 3-D volume to represent the whole spinal structure around the transverse processes. RESULTS: A comparison between the manual ground truth segmentation and the automatic algorithm in 50 images showed 0.17 mm average difference. The time to process all 1,938 images was about 37 Sec. (0.0191 Sec. / Image), including reading the original sequence file.CONCLUSION: Initial experiments showed the algorithm to be sufficiently accurate and fast for segmentation transverse processes in ultrasound for spinal curvature measurement. An extensive evaluation of the method is currently underway on images from a larger patient cohort and using multiple observers in producing ground truth segmentation.

}, doi = {10.1117/12.2256007}, url = {http://proceedings.spiedigitallibrary.org/proceeding.aspx?articleid=2615387}, author = {Shahrokh Kamali and Tamas Ungi and Andras Lasso and Christina Yan and Lougheed, Matthew and Gabor Fichtinger} } @conference {Harish2017a, title = {Monitoring electromagnetic tracking error using redundant sensors}, booktitle = {SPIE Medical Imaging 2017}, year = {2017}, publisher = {SPIE Society for Optics and Photonics}, organization = {SPIE Society for Optics and Photonics}, address = {Orlando, FL, USA}, abstract = {

PURPOSE: The intraoperative measurement of tracking error is crucial to ensure the reliability of electromagnetically navigated procedures. For intraoperative use, methods need to be quick to set up, easy to interpret, and not interfere with the ongoing procedure. Our goal was to evaluate the feasibility of using redundant electromagnetic sensors to alert users to tracking error in a navigated intervention setup. METHODS: Electromagnetic sensors were fixed to a rigid frame around a region of interest and on surgical tools. A software module was designed to detect tracking error by comparing real-time measurements of the differences between inter-sensor distances and angles to baseline measurements. Once these measurements were collected, a linear support vector machine-based classifier was used to predict tracking errors from redundant sensor readings. RESULTS: Measuring the deviation in the reported inter-sensor distance and angle between the needle and cautery served as a valid indicator for electromagnetic tracking error. The highest classification accuracy, 86\%, was achieved based on readings from the cautery when the two sensors on the cautery were close together. The specificity of this classifier was 93\% and the sensitivity was 82\%. CONCLUSION: Placing redundant electromagnetic sensors in a workspace seems to be feasible for the intraoperative detection of electromagnetic tracking error in controlled environments. Further testing should be performed to optimize the measurement error threshold used for classification in the support vector machine, and improve the sensitivity of our method before application in real procedures.\ 

}, author = {Vinyas Harish and Eden Bibic and Andras Lasso and M. Holden and Thomas Vaughan and Zachary M C Baum and Tamas Ungi and Gabor Fichtinger} } @article {Sharp2017, title = {Open Source Proton Treatment Planning in 3D Slicer: Status Update}, volume = {4}, number = {1}, year = {2017}, month = {05/2017}, pages = {14-83}, publisher = {International Journal of Particle Therapy: Summer 2017}, author = {Gregory C Sharp and Csaba Pinter and Jan Unkelbach and Gabor Fichtinger} } @conference {Suriyakumar2017a, title = {Open-source software for collision detection in external beam radiation therapy}, booktitle = {SPIE Medical Imaging 2017}, year = {2017}, author = {Vinith M. Suriyakumar and Renee Xu and Csaba Pinter and Gabor Fichtinger} } @conference {Holden2017b, title = {Overall Proficiency Assessment in Point-of-Care Ultrasound Interventions: The Stopwatch is not Enough}, booktitle = {Point-of-Care Ultrasound Workshop}, volume = {LNCS 10549}, year = {2017}, month = {09/2017}, pages = {146-153}, publisher = {Springer}, organization = {Springer}, address = {Quebec City, QC}, author = {M. Holden and Keri, Zsuzsanna and Tamas Ungi and Gabor Fichtinger} } @conference {Ilina2017a, title = {Patient-specific pediatric silicone heart valve models based on 3D ultrasound}, booktitle = {SPIE Medical Imaging 2017}, volume = {10135}, year = {2017}, month = {03/2017}, publisher = {SPIE Medical Imaging}, organization = {SPIE Medical Imaging}, address = {Orlando, FL, United States, Feb. 16, 2017}, abstract = {

PURPOSE: Patient-specific heart and valve models have shown promise as training and planning tools for heart surgery, but physically realistic valve models remain elusive. Available proprietary, simulation-focused heart valve models are generic adult mitral valves and do not allow for patient-specific modeling as may be needed for rare diseases such as congenitally abnormal valves. We propose creating silicone valve models from a 3D-printed plastic mold as a solution that can be adapted to any individual patient and heart valve at a fraction of the cost of direct 3D-printing using soft materials.

METHODS: Leaflets of a pediatric mitral valve, a tricuspid valve in a patient with hypoplastic left heart syndrome, and a complete atrioventricular canal valve were segmented from ultrasound images. A custom software was developed to automatically generate molds for each valve based on the segmentation. These molds were 3D-printed and used to make silicone valve models. The models were designed with cylindrical rims of different sizes surrounding the leaflets, to show the outline of the valve and add rigidity. Pediatric cardiac surgeons practiced suturing on the models and evaluated them for use as surgical planning and training tools.

RESULTS: Five out of six surgeons reported that the valve models would be very useful as training tools for cardiac surgery. In this first iteration of valve models, leaflets were felt to be unrealistically thick or stiff compared to real pediatric leaflets. A thin tube rim was preferred for valve flexibility.

CONCLUSION: The valve models were well received and considered to be valuable and accessible tools for heart valve surgery training. Further improvements will be made based on surgeons{\textquoteright} feedback.

Keywords: surgery, training, heart valve models, pediatric, patient-specific, 3D-printing, congenital heart disease, mitral valve, tricuspid valve, complete atrioventricular canal defect, ultrasound

}, author = {Anna Ilina and Andras Lasso and MatthewA Jolley and Brittany Wohler and Alexander V. Nguyen and Adam B. Scanlan and Zachary M C Baum and FrancisX McGowan and Gabor Fichtinger} } @article {Bibic2017a, title = {PLUS Model Catalog: A library of 3D-printable models}, year = {2017}, publisher = {Imaging Network Ontario (ImNO)}, address = {London, Canada}, author = {Eden Bibic and Zachary M C Baum and Vinyas Harish and Tamas Ungi and Andras Lasso and Gabor Fichtinger} } @article {Yan2017b, title = {Quantification of tumor localization needle displacement prior to tumor excision in navigated lumpectomy}, year = {2017}, author = {Christina Yan and Tamas Ungi and Gabrielle Gauvin and Doris Jabs and Andras Lasso and C. Jay Engel and John Rudan and Gabor Fichtinger} } @article {Brastianos2017b, title = {Real Time Electomagnetic Reconstruction of Catheter Paths in Multi-Catheter Interstitial Brachytherapy: A Phantom Model}, volume = {Int J Radiat Oncol Biol Phys 99}, year = {2017}, month = {10/2017}, pages = {E642}, author = {Harry Brastianos and Thomas Vaughan and Andras Lasso and Mary Westerland and James Gooding and Gabor Fichtinger and Conrad Falkson} } @article {Baum2017c, title = {Real-Time, Tracked, Mobile Augmented Reality Display for Surgical Navigation: Usability Study on Simulated Patients}, year = {2017}, publisher = {National Center for Image Guided Therapy}, address = {Bethesda, USA}, author = {Zachary M C Baum and Tamas Ungi and Andras Lasso and Gabor Fichtinger} } @article {Holden2017c, title = {Reducing Cost and Complexity in Computer-Assisted Training for Lumpectomy}, year = {2017}, month = {11/2017}, address = {Kingston, Canada}, author = {M. Holden and Keri, Zsuzsanna and Tamas Ungi and Caitlin Yeo and Justine Ring and Gabor Fichtinger and Boris Zevin} } @article {Church2017b, title = {Scoliosis visualization using transverse process landmarks}, year = {2017}, keywords = {scoliosis, Spine, Ultrasound, visualization}, author = {Ben Church}, editor = {Andras Lasso and Christopher Schlenger and Daniel P. Borschneck and Parvin Mousavi and Gabor Fichtinger and Tamas Ungi} } @conference {Underwood2017, title = {Skull registration for prone patient position using tracked ultrasound}, booktitle = {SPIE Medical Imaging 2017}, year = {2017}, author = {Underwood, Grace and Tamas Ungi and Zachary M C Baum and Andras Lasso and Gernot Kronreif and Gabor Fichtinger} } @article {Bell2017a, title = {Sonographic accuracy as a novel tool for point of care ultrasound competency assessment}, journal = {Academic Emergency Medicine Education and Training}, volume = {1}, number = {4}, year = {2017}, month = {10/2017}, pages = {316-324}, author = {Colin Bell and Conor McKaigney and M. Holden and Gabor Fichtinger and Louise Rang} } @conference {Yan2017a, title = {Study into the displacement of tumor localization needle during navigated breast cancer surgery}, booktitle = {SPIE Medical Imaging}, year = {2017}, publisher = {SPIE}, organization = {SPIE}, address = {Orlando, Florida, USA}, author = {Christina Yan and Tamas Ungi and Gabrielle Gauvin and Doris Jabs and Andras Lasso and C. Jay Engel and John Rudan and Gabor Fichtinger} } @conference {Lia2017, title = {Training with Perk Tutor improves ultrasound-guided in-plane needle insertion skill}, booktitle = {SPIE Medical Imaging}, volume = {10135}, year = {2017}, address = {Orlando, FL}, abstract = {

PURPOSE: The open-source Perk Tutor training platform has been shown to improve trainee performance in interventions that require ultrasound guidance. Our goal was to determine if needle coordination of medical trainees can be improved by training with Perk Tutor compared to training with ultrasound only.\ 

METHODS: Twenty participants with no previous experience were randomized into two groups; the Perk Tutor group and the Control group. The Perk Tutor group had access to the 3D visualization while the Control group used ultrasound only during their training. Performance was analyzed, measured and compared by Perk Tutor with regards to four needle coordination metrics. None of the groups had access to 3D visualization during performance testing.\ 

RESULTS: The needle tracking measurements showed, for the Perk Tutor group, lower average distance between the needle tip and ultrasound (1.2 [0.9 {\textendash} 2.8] mm vs 2.7 [2.3 {\textendash} 4.0] mm, respectively; P = 0.023) and lower maximum distance between the needle tip and ultrasound (2.2 [1.9 {\textendash} 3.2] mm vs 4.6 [3.9 {\textendash} 6.2] mm, respectively; P = 0.013). There was no significant difference in average needle to ultrasound plane angle and maximum needle to ultrasound plane distance. All participants were successful in the procedure.\ 

CONCLUSION: The Perk Tutor group had significantly reduced distance from the needle tip to the ultrasound plane. Training with Perk Tutor can improve trainees{\textquoteright} needle and ultrasound coordination.\ 

}, author = {H. Lia and Keri, Zsuzsanna and M. Holden and Vinyas Harish and Mitchell, Christopher H and Tamas Ungi and Gabor Fichtinger} } @conference {Baum2017a, title = {Usability of a real-time tracked augmented reality display system in musculoskeletal injections}, booktitle = {SPIE Medical Imaging 2017: Image-Guided Procedures, Robotic Interventions, and Modeling}, year = {2017}, month = {03/2017}, doi = {10.1117/12.2255897}, author = {Zachary M C Baum and Tamas Ungi and Andras Lasso and Gabor Fichtinger} } @article {House2017b, title = {Validation of breast volume measurement using 3D surface scanner}, year = {2017}, month = {02/2017}, author = {Rachael House and Andras Lasso and Glykeria Martou and Gabor Fichtinger} } @conference {Poulin2017, title = {Validation Of MRI To US Registration For Focal Hdr Prostate Brachytherapy Treatment}, booktitle = {Annual Scientific Meeting of the American Brachytherapy Society}, volume = {16}, number = {3}, year = {2017}, pages = {S56-S57}, publisher = {Elsevier}, organization = {Elsevier}, address = {Boston, MA, USA}, keywords = {Brachytherapy, contour propagation, MRI, Ultrasound}, issn = {1538-4721}, doi = {http://dx.doi.org/10.1016/j.brachy.2017.04.093}, url = {http://www.brachyjournal.com/article/S1538-4721(17)30154-X/fulltext}, author = {Eric Poulin}, editor = {Karim Boudam and Csaba Pinter and Samuel Kadoury and Andras Lasso and Gabor Fichtinger and Cynthia Menard} } @article {Vaughan2017a, title = {Virtual views controlled by surgical tools for computer assisted interventions}, year = {2017}, author = {Thomas Vaughan and Tamas Ungi and Andras Lasso and Gabrielle Gauvin and C. Jay Engel and John Rudan and Gabor Fichtinger} } @conference {Church2017, title = {Visualization of scoliotic spine using ultrasound-accessible skeletal landmarks}, booktitle = {SPIE Medical Imaging 2017}, year = {2017}, keywords = {scoliosis, Spine, Ultrasound, visualization}, author = {Ben Church and Andras Lasso and Christopher Schlenger and Daniel P. Borschneck and Parvin Mousavi and Gabor Fichtinger and Tamas Ungi} } @conference {Heffernan2016, title = {Accuracy of lesion boundary tracking in navigated breast tumor excision}, booktitle = {SPIE Medical Imaging 2016}, volume = {9786}, year = {2016}, month = {03/2016}, pages = {97860Y-1-6}, address = {San Diego, CA, USA}, doi = {10.1117/12.2217017}, url = {http://proceedings.spiedigitallibrary.org/proceeding.aspx?articleid=2505913\&resultClick=1}, author = {Emily Heffernan and Tamas Ungi and Thomas Vaughan and Padina Pezeshki and Andras Lasso and Gabrielle Gauvin and John Rudan and C. Jay Engel and Evelyn Morin and Gabor Fichtinger} } @article {Sunderland2016b, title = {Analysis of dose volume histogram deviations using different voxelization parameters}, year = {2016}, address = {Toronto, Canada}, author = {Kyle R. Sunderland and Csaba Pinter and Andras Lasso and Gabor Fichtinger} } @article {Gauvin2016a, title = {Breast-Conserving Surgery using NaviKnife Technology: Pilot Study on Non-Palpable Tumors}, year = {2016}, month = {08/2016}, author = {Gabrielle Gauvin and Tamas Ungi and Andras Lasso and Yeo, Caitlin T and Gabor Fichtinger and Doris Jabs and Ross Walker and Shaila Merchant and John Rudan and C. Jay Engel} } @article {Vaughan2016a, title = {Catheter targeting under electromagnetic guidance in breast brachytherapy {\textendash} a demonstration of concept}, volume = {Int J CARS}, number = {Suppl 1}, year = {2016}, month = {05/2016}, pages = {S60-62}, keywords = {Brachytherapy, breast}, author = {Thomas Vaughan and Harry Brastianos and Andras Lasso and Mary Westerland and Tamas Ungi and Conrad Falkson and Gabor Fichtinger} } @article {Holden2016a, title = {Central Venous Catheterization Curriculum Development via Objective Performance Metrics}, year = {2016}, month = {Submitted}, address = {Toronto, Canada}, author = {M. Holden and Mark Woodcroft and Tim Chaplin and Louise Rang and Melanie Jaeger and Nici Rocca and McGraw, Robert C and Gabor Fichtinger and Tamas Ungi} } @article {Tabanfar2016, title = {Clinical feasibility of pediatric scoliosis monitoring using portable ultrasound}, year = {2016}, author = {Reza Tabanfar and Christina Yan and Kempston, M and Daniel P. Borschneck and Tamas Ungi and Gabor Fichtinger} } @conference {Yan2016a, title = {Comparison of portable and conventional ultrasound imaging in spinal curvature measurement}, booktitle = {SPIE Medical Imaging}, year = {2016}, publisher = {SPIE Medical Imaging 2016}, organization = {SPIE Medical Imaging 2016}, address = {San Diego, CA, United States.}, abstract = {

PURPOSE: In scoliosis monitoring, tracked ultrasound has been explored as a safer imaging alternative to traditional radiography. The use of ultrasound in spinal curvature measurement requires identification of vertebral landmarks, but bones have reduced visibility in ultrasound imaging and high quality ultrasound machines are often expensive and not portable. In this work, we investigate the image quality and measurement accuracy of a low cost and portable ultrasound machine in comparison to a standard ultrasound machine in scoliosis monitoring. \ 


METHODS: \ Two different kinds of ultrasound machines were tested on three human subjects, using the same position tracker and software. Spinal curves were measured in the same reference coordinate system using both ultrasound machines. Lines were defined by connecting two symmetric landmarks identified on the left and right transverse process of the same vertebrae, and spinal curvature was defined as the transverse process angle between two such lines, projected on the coronal plane. \ \ 

RESULTS: \ Three healthy volunteers were scanned by both ultrasound configurations. Three experienced observers localized transverse processes as skeletal landmarks and obtained transverse process angles in images obtained from both ultrasounds. The mean difference per transverse process angle measured was 3.00 {\textpm} 2.1{\textdegree}. 94\% of transverse processes visualized in the Sonix Touch were also visible in the Telemed. \ Inter-observer error in the Telemed was 4.5{\textdegree} and 4.3{\textdegree} in the Sonix Touch. \ \ 

CONCLUSION: Price, convenience and accessibility suggest the Telemed to be a viable alternative in scoliosis monitoring, however further improvements in measurement protocol and image noise reduction must be completed before implementing the Telemed in the clinical setting. \ 

}, author = {Christina Yan and Reza Tabanfar and Michael Kempston and Daniel P. Borschneck and Tamas Ungi and Gabor Fichtinger} } @conference {Dehghan2016, title = {CT AND MRI FUSION FOR POSTIMPLANT PROSTATE BRACHYTHERAPY EVALUATION}, booktitle = {IEEE Int. Symp on Biomedical Imaging}, year = {2016}, month = {04/2016}, pages = {625-628}, abstract = {

Postoperative evaluation of prostate brachytherapy is typically
performed using CT, which does not have sufficient
soft tissue contrast for accurate anatomy delineation. MR-CT
fusion enables more accurate localization of both anatomy
and implanted radioactive seeds, and hence, improves the
accuracy of postoperative dosimetry. We propose a method
for automatic registration of MR and CT images without a
need for manual initialization. Our registration method employs
a point-to-volume registration scheme during which
localized seeds in the CT images, produced by commercial
treatment planning systems as part of the standard of care,
are rigidly registered to preprocessed MRI images. We tested
our algorithm on ten patient data sets and achieved an overall
registration error of 1.6 {\textpm} 0.8mm with a running time of less
than 20s. With high registration accuracy and computational
speed, and no need for manual intervention, our method has
the potential to be employed in clinical applications.

}, keywords = {Brachytherapy, Prostate}, author = {Ehsan Dehghan and Yi Le and Junghoon Lee and Danny Y Song and Gabor Fichtinger and Jerry L. Prince} } @article {McGraw2015a, title = {Development and evaluation of a simulation-based curriculum for ultrasound guided central venous catheterization}, journal = {Canadian Journal of Emergency Medicine}, volume = {18}, number = {6}, year = {2016}, month = {11/2016}, pages = {405-413}, doi = {10.1017/cem.2016.329}, author = {McGraw, Robert C and Tim Chaplin and Conor McKaigney and Louise Rang and Melanie Jaeger and Damian Redfearn and Colleen Davison and Tamas Ungi and M. Holden and Yeo, Caitlin T and Keri, Zsuzsanna and Gabor Fichtinger} } @conference {Alexander2016, title = {Development of 3D Slicer Based Film Dosimetry Analysis}, booktitle = {IC3DDose (9th International Conference on 3D Radiation Dosimetry)}, volume = {847}, year = {2016}, month = {10/2016}, publisher = {IOP Science}, organization = {IOP Science}, address = {Houston, TX, USA}, abstract = {

Radiochromic film dosimetry has been widely adopted in the clinic as it is a convenient option for dose measurement and verification. Film dosimetry analysis is typically performed using expensive commercial software, or custom made scripts in Matlab. However, common clinical film analysis software is not transparent regarding what corrections/optimizations are running behind the scenes. An extension to the open-source medical imaging platform 3D Slicer has been designed and implemented in our centre for film dosimetry analysis. This extension enables importing treatment planning system dose and film imaging data, film calibration, registration, and comparison of 2D dose distributions, enabling greater accessibility to film analysis and higher reliability.

}, author = {Kevin Alexander and Alec Robinson and Csaba Pinter and Gabor Fichtinger and John Schreiner} } @article {Pinter2016, title = {Dynamic management of segmented structures in 3D Slicer}, year = {2016}, month = {03/2016}, author = {Csaba Pinter and Andras Lasso and Gabor Fichtinger} } @conference {sunderland2016a, title = {Effects of voxelization on dose volume histogram accuracy}, booktitle = {SPIE Medical Imaging}, year = {2016}, pages = {97862O{\textendash}97862O}, publisher = {International Society for Optics and Photonics}, organization = {International Society for Optics and Photonics}, abstract = {

PURPOSE: In radiotherapy treatment planning systems, structures of interest such as targets and organs at risk are stored as 2D contours on evenly spaced planes. In order to be used in various algorithms, contours must be converted into binary labelmap volumes using voxelization. The voxelization process results in lost information, which has little effect on the volume of large structures, but has significant impact on small structures, which contain few voxels. Volume differences for segmented structures affects metrics such as dose volume histograms (DVH), which are used for treatment planning. Our goal is to evaluate the impact of voxelization on segmented structures, as well as how factors like voxel size affects metrics, such as DVH.

METHODS: We create a series of implicit functions, which represent simulated structures. These structures are sampled at varying resolutions, and compared to labelmaps with high sub-millimeter resolutions. We generate DVH and evaluate voxelization error for the same structures at different resolutions by calculating the agreement acceptance percentage between the DVH.

RESULTS: We implemented tools for analysis as modules in the SlicerRT toolkit based on the 3D Slicer platform. We found that there were large DVH variation from the baseline for small structures or for structures located in regions with a high dose gradient, potentially leading to the creation of suboptimal treatment plans.

CONCLUSION: This work demonstrates that labelmap and dose volume voxel size is an important factor in DVH accuracy, which must be accounted for in order to ensure the development of accurate treatment plans.\ 

}, author = {Kyle R. Sunderland and Csaba Pinter and Andras Lasso and Gabor Fichtinger} } @article {Brastianos2016a, title = {Electromagnetic tracking for catheter insertion guidance for HDR breast brachytherapy: demonstration of concept in phantoms}, volume = {Radiother Oncol 120}, year = {2016}, month = {09/2016}, pages = {S73-S74}, address = {Banff, AB, Canada}, author = {H Brastianos and Thomas Vaughan and Andras Lasso and M Westerland and James Gooding and Gabor Fichtinger and Conrad Falkson} } @article {Brastianos2016b, title = {Electromagnetic tracking for catheter insertion guidance for HDR breast brachytherapy: a phantom experiment}, volume = {Int J Radiat Oncol Biol Phys 96}, year = {2016}, month = {09/2016}, pages = {E643}, address = {Boston, MA, USA}, author = {H Brastianos and Thomas Vaughan and Andras Lasso and M Westerland and James Gooding and Gabor Fichtinger and Conrad Falkson} } @article {Vaughan2016b, title = {Electromagnetically-guided catheter insertions in breast phantoms for brachytherapy}, year = {2016}, month = {Submitted}, keywords = {Brachytherapy, breast}, author = {Thomas Vaughan and Harry Brastianos and Andras Lasso and Mary Westerland and Tamas Ungi and Conrad Falkson and Gabor Fichtinger} } @article {Lugez2016a, title = {Enhanced electromagnetic catheter tracking with application in high-dose-rate brachytherapy}, year = {2016}, author = {Elodie Lugez and Hossein Sadjadi and C.P. Joshi and Selim G. Akl and Gabor Fichtinger} } @article {Kapur2016, title = {Increasing the impact of medical image computing using community-based open-access hackathons: The NA-MIC and 3D Slicer experience}, journal = {Medical Image Analysis}, volume = {33}, year = {2016}, month = {10/2016}, pages = {176-180}, abstract = {

The National Alliance for Medical Image Computing (NA-MIC) was launched in 2004 with the goal of investigating and developing an open source software infrastructure for the extraction of information and knowledge from medical images using computational methods. Several leading research and engineering groups participated in this effort that was funded by the US National Institutes of Health through a variety of infrastructure grants. This effort transformed 3D Slicer from an internal, Boston-based, academic research software application into a professionally maintained, robust, open source platform with an international leadership and developer and user communities. Critical improvements to the widely used underlying open source libraries and tools{\textemdash}VTK, ITK, CMake, CDash, DCMTK{\textemdash}were an additional consequence of this effort. This project has contributed to close to a thousand peer-reviewed publications and a growing portfolio of US and international funded efforts expanding the use of these tools in new medical computing applications every year. In this editorial, we discuss what we believe are gaps in the way medical image computing is pursued today; how a well-executed research platform can enable discovery, innovation and reproducible science ({\textquotedblleft}Open Science{\textquotedblright}); and how our quest to build such a software platform has evolved into a productive and rewarding social engineering exercise in building an open-access community with a shared vision.

}, keywords = {3D Slicer, Hackathon, Medical image computing, NA-MIC, Open access, Open science, Open source, Project week, Reproducible research}, doi = {http://doi.org/10.1016/j.media.2016.06.035}, author = {Tina Kapur and Steve Pieper and Andras Lasso and Tamas Ungi and Csaba Pinter and Gabor Fichtinger and Ron Kikinis} } @article {Baksh2016a, title = {An inexpensive system for competency-based pericardiocentesis training}, year = {2016}, publisher = { Imaging Network Ontario (ImNO)}, address = {Toronto, Canada}, keywords = {Pericardiocentesis, Phantoms}, author = {A Baksh and Vinyas Harish and Tamas Ungi and R Pal and Gabor Fichtinger} } @conference {Ungi2016c, title = {Intraoperative user interface for navigated breast tumor surgery}, booktitle = {Computer Assisted Radiology and Surgery, 30th International Congress}, volume = {11}, year = {2016}, month = {05/2016}, pages = {S108-9}, publisher = {Springer}, organization = {Springer}, address = {Heidelberg, Germany}, doi = {10.1007/s11548-016-1412-5}, author = {Tamas Ungi and Thomas Vaughan and Gabrielle Gauvin and Padina Pezeshki and Andras Lasso and C. Jay Engel and John Rudan and Gabor Fichtinger} } @conference {doi:10.1117/12.2217189, title = {Investigation of permanent magnets in low-cost position tracking}, booktitle = {Proc. SPIE}, year = {2016}, pages = {97862F-97862F-9}, abstract = {

PURPOSE: Low cost portable ultrasound systems could see improved utility if similarly low cost portable trackers were developed. Permanent magnet based tracking systems potentially offer adequate tracking accuracy in a small workspace suitable for ultrasound image reconstruction. In this study the use of simple permanent magnet tracking techniques is investigated to determine feasibility for use in an ultrasound tracking system. METHODS: Permanent magnet tracking requires finding a position input into a field model which minimizes the error between the measured field, and the field expected from the model. A simulator was developed in MATLAB to determine the effect of sources of error in permanent magnet tracking systems. Insights from the simulations were used to develop a calibration and tracking experiment to determine the accuracy of a simple and low cost permanent magnet tracking system. RESULTS: Simulation and experimental results show permanent magnet based tracking to be highly sensitive to errors in sensor measurements, calibration and experimental setup. The reduction in field strength of permanent magnets lowers with the cube of distance, which leads to very poor signal-to-noise ratios at distances above 20 cm. Small errors in experimental setup also led to high tracking error. CONCLUSION: Permanent magnet tracking was found to be less accurate than is clinically useful, and highly sensitive to errors in sensors and experimental setup. Sensor and calibration limitations make simple permanent magnet tracking systems a poor choice given the present state of sensor technology.

}, doi = {10.1117/12.2217189}, url = {http://dx.doi.org/10.1117/12.2217189}, author = {Anderson, Ryan and Andras Lasso and Keyvan Hashtrudi-Zaad and Gabor Fichtinger} } @article {Harish2016b, title = {A low-cost system for image-guided computer-navigated pericardiocentesis training}, volume = {Int J CARS (2016) 11 (Suppl 1)}, year = {2016}, pages = {S112}, publisher = {CARS}, address = {Heidelberg, Germany}, keywords = {Pericardiocentesis, Phantoms}, author = {Vinyas Harish and A Baksh and Tamas Ungi and R Pal and Gabor Fichtinger} } @conference {Harish2016a, title = {Measurement of electromagnetic tracking error in a navigated breast surgery setup}, booktitle = {SPIE Medical Imaging 2016}, volume = {9786}, year = {2016}, publisher = {SPIE Medical Imaging}, organization = {SPIE Medical Imaging}, address = {San Diego, CA, United States, Feb. 29, 2016}, abstract = {

The measurement of tracking error is crucial to ensure the safety and feasibility of electromagnetically tracked, image-guided procedures. Measurement should occur in a clinical environment because electromagnetic field distortion depends on positioning relative to the field generator and metal objects. However, we could not find an accessible and open-source system for calibration, error measurement, and visualization. We developed such a system and tested it in a navigated breast surgery setup.A pointer tool was designed for concurrent electromagnetic and optical tracking. Software modules were developed for automatic calibration of the measurement system, real-time error visualization, and analysis. The system was taken to an operating room to test for field distortion in a navigated breast surgery setup. Positional and rotational electromagnetic tracking errors were then calculated using optical tracking as a ground truth. Our system is quick to set up and can be rapidly deployed. The process from calibration to visualization also only takes a few minutes. Field distortion was measured in the presence of various surgical equipment. Positional and rotational error in a clean field was approximately 0.90 mm and 0.31{\textdegree}. The presence of a surgical table, an electrosurgical cautery, and anesthesia machine increased the error by up to a few tenths of a millimetre and tenth of a degree.In a navigated breast surgery setup, measurement and visualization of tracking error defines a safe working area in the presence of surgical equipment. Our system is available as an extension for the open-source 3D Slicer platform.

}, author = {Vinyas Harish and A Baksh and Tamas Ungi and Andras Lasso and Zachary M C Baum and G Gauvin and C. Jay Engel and John Rudan and Gabor Fichtinger} } @article {Harish2016c, title = {Monitoring electromagnetic tracking error in computer-navigated breast cancer surgery}, year = {2016}, publisher = {Imaging Network Ontario (ImNO)}, address = {Toronto, Canada}, keywords = {Breast cancer, EM Tracking, Lumpectomy}, author = {Vinyas Harish and A Baksh and Tamas Ungi and Andras Lasso and Zachary M C Baum and G Gauvin and C. Jay Engel and John Rudan and Gabor Fichtinger} } @article {Marker2016, title = {MR-guided perineural injection of the ganglion impar: technical considerations and feasibility}, journal = {Skeletal Radiology}, year = {2016}, month = {01/2016}, abstract = {

Objective

Perineural ganglion impar injections are used in the management of pelvic pain syndromes; however, there is no consensus regarding the optimal image guidance. Magnetic resonance imaging (MRI) provides high soft tissue contrast and the potential to directly visualize and target the ganglion. The purpose of this study was to assess the feasibility of MR-guided percutaneous perineural ganglion impar injections.

Materials and methods

Six MR-guided ganglion impar injections were performed in six human cadavers. Procedures were performed with a clinical 1.5-Tesla MRI system through a far lateral transgluteus approach. Ganglion impar visibility, distance from the sacrococcygeal joint, number of intermittent MRI control steps required to place the needle, target error between the intended and final needle tip location, inadvertent punctures of non-targeted vulnerable structures, injectant distribution, and procedure time were determined.

Results

The ganglion impar was seen on MRI in 4/6 (66\ \%) of cases and located 0.8\ mm cephalad to 16.3\ mm caudad (average 1.2\ mm caudad) to the midpoint of the sacrococcygeal joint. Needle placement required an average of three MRI control steps (range, 2{\textendash}6). The average target error was 2.2 {\textpm} 2.1\ mm. In 6/6 cases (100\ \%), there was appropriate periganglionic distribution and filling of the presacrococcygeal space. No punctures of non-targeted structures occurred. The median procedure time was 20\ min (range, 12{\textendash}29\ min).

Conclusion

Interventional MRI can visualize and directly target the ganglion impar for accurate needle placement and successful periganglionic injection with the additional benefit of no ionizing radiation exposure to patient and staff. Our results support clinical evaluation.

}, url = {http://dx.doi.org/10.1007/s00256-016-2333-7}, author = {David R. Marker and Paweena U-Thainual and Tamas Ungi and Aaron J Flammang and Gabor Fichtinger and Iulian Iordachita and John A Carrino and Jan Fritz} } @article {Ungi2016a, title = {Open-source platforms for navigated image-guided interventions}, journal = {Medical Image Analysis}, volume = {33}, year = {2016}, month = {10/2016}, pages = {181-6}, abstract = {

Navigation technology is changing the clinical standards in medical interventions by making existing procedures more accurate, and new procedures possible. Navigation is based on preoperative or intraoperative imaging combined with 3-dimensional position tracking of interventional tools registered to the images. Research of navigation technology in medical interventions requires significant engineering efforts. The difficulty of developing such complex systems has been limiting the clinical translation of new methods and ideas. A key to the future success of this field is to provide researchers with platforms that allow rapid implementation of applications with minimal resources spent on reimplementing existing system features. A number of platforms have been already developed that can share data in real time through standard interfaces. Complete navigation systems can be built using these platforms using a layered software architecture. In this paper, we review the most popular platforms, and show an effective way to take advantage of them through an example surgical navigation application.

}, doi = {10.1016/j.media.2016.06.011}, author = {Tamas Ungi and Andras Lasso and Gabor Fichtinger} } @article {Baum2016b, title = {Real-time self-calibration of a handheld augmented reality overlay system}, year = {2016}, publisher = {Imaging Network Ontario (ImNO)}, address = {Toronto, Canada}, author = {Zachary M C Baum and Andras Lasso and Tamas Ungi and Gabor Fichtinger} } @conference {Baum2016a, title = {Real-time self-calibration of a tracked augmented reality display}, booktitle = {SPIE Medical Imaging 2016}, volume = {9786}, year = {2016}, publisher = {SPIE Medical Imaging}, organization = {SPIE Medical Imaging}, address = {San Diego, CA, United States, Feb. 29, 2016}, abstract = {

PURPOSE: Augmented reality systems have been proposed for image-guided needle interventions but they have not become widely used in clinical practice due to restrictions such as limited portability, low display refresh rates, and tedious calibration procedures. We propose a handheld tablet-based self-calibrating image overlay system.

METHODS: A modular handheld augmented reality viewbox was constructed from a tablet computer and a semi-transparent mirror. A consistent and precise self-calibration method, without the use of any temporary markers, was designed to achieve an accurate calibration of the system. Markers attached to the viewbox and patient are simultaneously tracked using an optical pose tracker to report the position of the patient with respect to a displayed image plane that is visualized in real-time. The software was built using the open-source 3D Slicer application platform{\textquoteright}s SlicerIGT extension and the PLUS toolkit.

RESULTS: The accuracy of the image overlay with image-guided needle interventions yielded a mean absolute position error of 0.99 mm (95th percentile 1.93 mm) in-plane of the overlay and a mean absolute position error of 0.61 mm (95th percentile 1.19 mm) out-of-plane. This accuracy is clinically acceptable for tool guidance during various procedures, such as musculoskeletal injections.

CONCLUSION: A self-calibration method was developed and evaluated for a tracked augmented reality display. The results show potential for the use of handheld image overlays in clinical studies with image-guided needle interventions.\ 

}, author = {Zachary M C Baum and Andras Lasso and Tamas Ungi and Gabor Fichtinger} } @conference {Gauvin2016a, title = {Safety and Feasibility Study for Real-Time Electromagnetic Navigation in Breast-Conserving Surgery}, booktitle = {Computer Assisted Radiology and Surgery, 30th International Congress}, volume = {11}, year = {2016}, month = {05/2016}, pages = {S106-7}, publisher = {Springer}, organization = {Springer}, address = {Heidelberg, Germany}, doi = {10.1007/s11548-016-1412-5}, author = {Gabrielle Gauvin and Tamas Ungi and Andras Lasso and Ross Walker and John Rudan and Gabor Fichtinger and C. Jay Engel} } @article {MacNeil2016a, title = {System for objectively evaluating colonoscopy procedural skills using motion analysis}, year = {2016}, month = {Submitted}, address = {Toronto, Canada}, author = {Kyle MacNeil and Chang Wang and M. Holden and Tamas Ungi and Gabor Fichtinger and Lawrence Hookey} } @article {Yan2016, title = {Vertebral landmark visualization with portable ultrasound imaging in scoliosis monitoring}, year = {2016}, author = {Christina Yan and Reza Tabanfar and Kempston, M and Daniel P. Borschneck and Tamas Ungi and Gabor Fichtinger} } @conference {Carter2016a, title = {Visual feedback mounted on surgical tool: proof of concept}, booktitle = {SPIE Medical Imaging 2016}, volume = {9786}, year = {2016}, month = {In Press}, address = {San Diego, CA, USA}, author = {Kaci Carter and Thomas Vaughan and M. Holden and Gabrielle Gauvin and Padina Pezeshki and Andras Lasso and Tamas Ungi and Evelyn Morin and John Rudan and C. Jay Engel and Gabor Fichtinger} } @conference {Alexander2015, title = {3D Slicer Gel Dosimetry Analysis: Validation of the Calibration Process}, booktitle = {World Congress on Medical Physics and Biomedical Engineering, June 7-12, 2015, Toronto, Canada}, volume = {51}, year = {2015}, month = {06/2015}, pages = {521-524}, publisher = {Springer International Publishing}, organization = {Springer International Publishing}, abstract = {

An extension tailored to dose data processing and analysis has been developed in the open source imaging application 3D Slicer to aid in routine clinical use of gel dosim-etry. This extension allows for registration, calibration, and comparison of 3D gel dosimeter data (imaged using an optical CT scanner) to treatment planning data. In this work, we present the accuracy and reproducibility of the gel dosimeter calibration component of the 3D Slicer extension. We examine the consistency of the calibration curves for a range of electron beam irradiations, and the inter-user variability of the gel dosimeter calibration process.

}, doi = {10.1007/978-3-319-19387-8_128}, url = {http://link.springer.com/chapter/10.1007\%2F978-3-319-19387-8_128}, author = {Kevin Alexander and Csaba Pinter and Jennifer Andrea and Gabor Fichtinger and John Schreiner} } @conference {Schumacher2015, title = {3D-printed surface mould applicator for high-dose-rate brachytherapy}, booktitle = {SPIE Medical Imaging 2015}, volume = {9415}, year = {2015}, abstract = {

ABSTRACT

PURPOSE: In contemporary high-dose-rate brachytherapy treatment of superficial tumors, catheters are placed in a wax mould. The creation of current wax models is a difficult and time consuming proces.The irradiation plan can only be computed post-construction and requires a second CT scan. In case no satisfactory dose plan can be created, the mould is discarded and the process is repeated. The objective of this work was to develop an automated method to replace suboptimal wax moulding. METHODS: We developed a method to design and manufacture moulds that guarantee to yield satisfactory dosimetry. A 3D-printed mould with channels for the catheters designed from the patient{\textquoteright}s CT and mounted on a patient-specific thermoplastic mesh mask. The mould planner was implemented as an open-source module in the 3D Slicer platform. RESULTS: Series of test moulds were created to accommodate standard brachytherapy catheters of 1.70mm diameter. A calibration object was used to conclude that tunnels with a diameter of 2.25mm, minimum 12mm radius of curvature, and 1.0mm open channel gave the best fit for this printer/catheter combination. Moulds were created from the CT scan of thermoplastic mesh masks of actual patients. The patient-specific moulds have been visually verified to fit on the thermoplastic meshes. CONCLUSION: The masks were visually shown to fit onto the thermoplastic meshes, next the resulting dosimetry will have to be compared with treatment plans and dosimetry achieved with conventional wax moulds in order to validate our 3D printed moulds.

}, author = {Mark Schumacher and Andras Lasso and Ian Cumming and Adam Rankin and Conrad Falkson and John Schreiner and C.P. Joshi and Gabor Fichtinger} } @article {Clinkard2015a, title = {Assessment of Lumbar Puncture Skill in Experts and Nonexperts Using Checklists and Quantitative Tracking of Needle Trajectories: Implications for Competency-Based Medical Education}, journal = {Teaching and Learning in Medicine}, volume = {27}, number = {1}, year = {2015}, month = {01/2015}, pages = {51-56}, doi = {10.1080/10401334.2014.979184}, author = {David Clinkard and Eric Moult and M. Holden and Colleen Davison and Tamas Ungi and Gabor Fichtinger and McGraw, Robert C} } @article {Ungi2015c, title = {Clinical Translation of Real Time Cautery Navigation for Breast Surgery}, year = {2015}, month = {06/2015}, pages = {19-20}, isbn = {978-0-9563776-6-1}, author = {Tamas Ungi and Gabrielle Gauvin and Andras Lasso and Yeo, Caitlin T and John Rudan and C. Jay Engel and Gabor Fichtinger} } @article {Andrea2015a, title = {Cloud computing of anatomical similarity}, year = {2015}, month = {03/2015}, pages = {35}, address = {London, Canada}, url = {http://www.imno.ca/sites/default/files/IMNO-Conference-Program-Final.pdf}, author = {Jennifer Andrea and Csaba Pinter and Gabor Fichtinger} } @article {Keri2015a, title = {Computerized training system for ultrasound-guided lumbar puncture on abnormal spine models: a randomized controlled trial}, journal = {Canadian Journal of Anesthesia}, volume = {62}, year = {2015}, month = {07/2015}, pages = {777-784}, url = {http://www.ncbi.nlm.nih.gov/pubmed/25804431}, author = {Keri, Zsuzsanna and Devin Sydor and Tamas Ungi and M. Holden and McGraw, Robert C and Parvin Mousavi and Daniel P. Borschneck and Gabor Fichtinger and Melanie Jaeger} } @article {Alexander2015a, title = {Cross-Validation of 3D Gamma Comparison Tools}, volume = {42}, number = {15}, year = {2015}, month = {06/2015}, pages = {3385-3385}, publisher = {Medical Physics}, doi = {10.1118/1.4924592}, author = {Kevin Alexander and Christopher Jechel and Csaba Pinter and Greg Salomons and Andras Lasso and Gabor Fichtinger and L. John Schreiner} } @article {Carter2015b, title = {Current sensing for navigated electrosurgery }, year = {2015}, month = {03/2015}, pages = {37}, author = {Kaci Carter and Andras Lasso and Tamas Ungi and Evelyn Morin and Gabor Fichtinger} } @article {AbouSeido2015, title = {Data Management Workflow And Architecture For Simulation-Based Medical Training}, volume = {10}, year = {2015}, month = {06/2015}, pages = {s78}, keywords = {AbouSeido2015}, doi = {10.1007/s11548-015-1213-2}, author = {Nisrin Abou-Seido and Tamas Ungi and Andras Lasso and McGraw, Robert C and Gabor Fichtinger} } @article {Clinkard2015b, title = {The Development and Validation of Hand Motion Analysis to Evaluate Competency in Central Line Catheterization}, journal = {Academic Emergency Medicine}, volume = {22}, number = {2}, year = {2015}, month = {02/2015}, pages = {212-218}, doi = {10.1111/acem.12590}, author = {David Clinkard and M. Holden and Tamas Ungi and David Messenger and Gabor Fichtinger and McGraw, Robert C} } @conference {Lougheed2015, title = {Evaluation metrics for bone segmentation in ultrasound}, booktitle = {SPIE Medical Imaging 2015}, volume = {9415}, year = {2015}, publisher = {SPIE}, organization = {SPIE}, address = {Orlando,FL, United States, Feb. 23, 2015}, author = {Lougheed, Matthew and Gabor Fichtinger and Tamas Ungi} } @article {Yeo2015a, title = {Examination of learning trajectories for simulated lumbar puncture training using hand motion analysis}, journal = {Academic Emergency Medicine}, volume = {22}, number = {10}, year = {2015}, month = {10/2015}, pages = {1187-1195}, doi = {10.1111/acem.12753}, author = {Yeo, Caitlin T and Colleen Davison and Tamas Ungi and M. Holden and Gabor Fichtinger and McGraw, Robert C} } @article {Vaughan2015, title = {Hole filling with oriented sticks in ultrasound volume reconstruction}, journal = {J. Med. Imag.}, volume = {2}, number = {3}, year = {2015}, author = {Thomas Vaughan and Andras Lasso and Tamas Ungi and Gabor Fichtinger} } @conference {King2015, title = {An Immersive Virtual Reality Environment for Diagnostic Imaging}, booktitle = {Int Conf Med Image Comput Comput Assist Interv. MICCAI 2015}, year = {2015}, month = {10/2015}, abstract = {

Advancements in and adoption of consumer virtual reality are currently being propelled by numerous upcoming devices such as the Oculus Rift. Although applications are currently growing around the entertainment field, widespread adoption of virtual reality devices opens up the potential for other applications that may have been unfeasible with past implementations of virtual reality. A virtual reality environment may provide an equal or larger viewing volume than what is provided with the use of multiple conventional displays while remaining comparatively cheaper and more portable. A virtual reality application for the viewing of multiple image slices was designed using: the Oculus Rift head-mounted display, Unity, 3D Slicer, and a gamepad controller. A web server acquires data from volumes loaded within 3D Slicer and forwards it to a Unity application that proceeds to render a scene for the Oculus Rift head- mounted display. Users may interact with the images adjusting windowing and leveling using the handheld gamepad controller. Multiple images could also be brought closer to the user for detailed inspection. Application usage was demonstrated with the simultaneous visualization of concurrent slices of a serial CT scan of a patient with a lung nodule. The tasks of identifying the lesion and determining the malignancy status by monitoring the growth of the lesion over time were performed successfully. Also demonstrated was the studying of multiple- sclerosis lesion evolution by visualization of a large time-series MRI dataset. A virtual reality environment for the purpose of aiding diagnostic radiology has been created and demonstrated with potential use cases.

}, author = {Franklin King and Jagadeesan Jayender and Steve Pieper and Tina Kapur and Andras Lasso and Gabor Fichtinger} } @conference {Harish2015, title = {Intraoperative visualization and assessment of electromagnetic tracking error}, booktitle = {SPIE Medical Imaging 2015}, volume = {9415}, year = {2015}, pages = {94152H-94152H-6}, address = {Orlando,FL, United States, Feb. 23, 2015}, abstract = {

Electromagnetic tracking allows for increased flexibility in designing image-guided interventions, however it is well understood that electromagnetic tracking is prone to error. Visualization and assessment of the tracking error should take place in the operating room with minimal interference with the clinical procedure. The goal was to achieve this ideal in an open-source software implementation in a plug and play manner, without requiring programming from the user. We use optical tracking as a ground truth. An electromagnetic sensor and optical markers are mounted onto a stylus device, pivot calibrated for both trackers. Electromagnetic tracking error is defined as difference of tool tip position between electromagnetic and optical readings. Multiple measurements are interpolated into the thin-plate B-spline transform visualized in real time using 3D Slicer. All tracked devices are used in a plug and play manner through the open-source SlicerIGT and PLUS extensions of the 3D Slicer platform. Tracking error was measured multiple times to assess reproducibility of the method, both with and without placing ferromagnetic objects in the workspace. Results from exhaustive grid sampling and freehand sampling were similar, indicating that a quick freehand sampling is sufficient to detect unexpected or excessive field distortion in the operating room. The software is available as a plug-in for the 3D Slicer platforms. Results demonstrate potential for visualizing electromagnetic tracking error in real time for intraoperative environments in feasibility clinical trials in image-guided interventions.

}, doi = {10.1117/12.2082330}, url = {http://dx.doi.org/10.1117/12.2082330}, author = {Vinyas Harish and Tamas Ungi and Andras Lasso and MacDonald, Andrew and Nanji, Sulaiman and Gabor Fichtinger} } @conference {Meyer2015, title = {Live ultrasound volume reconstruction using scout scanning}, booktitle = {SPIE Medical Imaging 2015}, volume = {9415}, year = {2015}, pages = {94152A-94152A-9}, abstract = {

Ultrasound-guided interventions often necessitate scanning of deep-seated anatomical structures that may be hard to visualize. Visualization can be improved using reconstructed 3D ultrasound volumes. High-resolution 3D reconstruction of a large area during clinical interventions is challenging if the region of interest is unknown. We propose a two-stage scanning method allowing the user to perform quick low-resolution scouting followed by high-resolution live volume reconstruction. Scout scanning is accomplished by stacking 2D tracked ultrasound images into a low-resolution volume. Then, within a region of interest defined in the scout scan, live volume reconstruction can be performed by continuous scanning until sufficient image density is achieved. We implemented the workflow as a module of the open-source 3D Slicer application, within the SlicerIGT extension and building on the PLUS toolkit. Scout scanning is performed in a few seconds using 3 mm spacing to allow region of interest definition. Live reconstruction parameters are set to provide good image quality (0.5 mm spacing, hole filling enabled) and feedback is given during live scanning by regularly updated display of the reconstructed volume. Use of scout scanning may allow the physician to identify anatomical structures. Subsequent live volume reconstruction in a region of interest may assist in procedures such as targeting needle interventions or estimating brain shift during surgery.

}, doi = {10.1117/12.2081488}, url = {http://dx.doi.org/10.1117/12.2081488}, author = {Meyer, Amelie and Andras Lasso and Tamas Ungi and Gabor Fichtinger} } @conference {Andrea2015b, title = {Measuring radiation treatment plan similarity in the cloud}, booktitle = {World Congress on Medical Physics and Biomedical Engineering}, volume = {51}, year = {2015}, month = {07/2015}, pages = {432-435}, publisher = {Springer}, organization = {Springer}, address = {Toronto, Canada}, isbn = { 978-3-319-19387-8}, issn = {1680-0737}, doi = {10.1007/978-3-319-19387-8_105}, url = {http://link.springer.com/book/10.1007/978-3-319-19387-8}, author = {Jennifer Andrea and Csaba Pinter and Gabor Fichtinger} } @article {Ungi2015b, title = {Navigated breast tumor excision using electromagnetically tracked ultrasound and surgical instruments}, journal = {IEEE Transactions on Biomedical Engineering}, year = {2015}, month = {08/2015 }, abstract = {

OBJECTIVE:

Lumpectomy, breast conserving tumor excision, is the standard surgical treatment in early stage breast cancer. A common problem with lumpectomy is that the tumor may not be completely excised, and additional surgery becomes necessary. We investigated if a surgical navigation system using intraoperative ultrasound improves the outcomes of lumpectomy, and if such a system can be implemented in the clinical environment.

METHODS:

Position sensors were applied on the tumor localization needle, the ultrasound probe, and the cautery, and three-dimensional navigation views were generated using real time tracking information. The system was tested against standard wire-localization procedures on phantom breast models by eight surgical residents. Clinical safety and feasibility was tested in six palpable tumor patients undergoing lumpectomy by two experienced surgical oncologists.

RESULTS:

Navigation resulted in significantly less tissue excised compared to control procedures (10.3 {\textpm} 4.4 vs. 18.6 {\textpm} 8.7 g, p = 0.01) and lower number of tumorpositive margins (1/8 vs. 4/8) in the phantom experiments. Excision-tumor distance was also more consistently outside the tumor margins with navigation in phantoms. The navigation system has been successfully integrated in an operating room, and user experience was rated positively by surgical oncologists.

CONCLUSION:

Electromagnetic navigation may improve the outcomes of lumpectomy by making the tumor excision more accurate.

SIGNIFICANCE:

Breast cancer is the most common cancer in women, and lumpectomy is its first choice treatment. Therefore, improvement of lumpectomy outcomes have a significant impact on a large patient population.

}, issn = {0018-9294}, doi = {10.1109/TBME.2015.2466591}, url = {http://www.ncbi.nlm.nih.gov/pubmed/26302503}, author = {Tamas Ungi and Gabrielle Gauvin and Andras Lasso and Yeo, Caitlin T and Padina Pezeshki and Thomas Vaughan and Kaci Carter and John Rudan and C. Jay Engel and Gabor Fichtinger} } @conference {Lugez2015, title = {Nonholonomic catheter path reconstruction using electromagnetic tracking}, booktitle = {SPIE Medical Imaging 2015}, volume = {9415}, year = {2015}, pages = {94150L-94150L-7}, abstract = {

Catheter path reconstruction is a necessary step in many clinical procedures, such as cardiovascular interventions and high-dose-rate brachytherapy. To overcome limitations of standard imaging modalities, electromagnetic tracking has been employed to reconstruct catheter paths. However, tracking errors pose a challenge in accurate path reconstructions. We address this challenge by means of a filtering technique incorporating the electromagnetic measurements with the nonholonomic motion constraints of the sensor inside a catheter. The nonholonomic motion model of the sensor within the catheter and the electromagnetic measurement data were integrated using an extended Kalman filter. The performance of our proposed approach was experimentally evaluated using the Ascension{\^a}{\texteuro}{\texttrademark}s 3D Guidance trakStar electromagnetic tracker. Sensor measurements were recorded during insertions of an electromagnetic sensor (model 55) along ten predefined ground truth paths. Our method was implemented in MATLAB and applied to the measurement data. Our reconstruction results were compared to raw measurements as well as filtered measurements provided by the manufacturer. The mean of the root-mean-square (RMS) errors along the ten paths was 3.7 mm for the raw measurements, and 3.3 mm with manufacturer{\^a}{\texteuro}{\texttrademark}s filters. Our approach effectively reduced the mean RMS error to 2.7 mm. Compared to other filtering methods, our approach successfully improved the path reconstruction accuracy by exploiting the sensor{\^a}{\texteuro}{\texttrademark}s nonholonomic motion constraints in its formulation. Our approach seems promising for a variety of clinical procedures involving reconstruction of a catheter path.

}, doi = {10.1117/12.2081561}, url = {http://dx.doi.org/10.1117/12.2081561}, author = {Elodie Lugez and Hossein Sadjadi and Selim G. Akl and Gabor Fichtinger} } @article {Holden2015a, title = {Objective Evaluation Of Sonographic Skill In Focussed Assessment With Sonography For Trauma Examinations}, volume = {10}, year = {2015}, month = {06/2015}, pages = {S79-S80}, address = {Barcelona, Spain}, doi = {10.1007/s11548-015-1213-2}, author = {M. Holden and Tamas Ungi and Conor McKaigney and Colin Bell and Louise Rang and Gabor Fichtinger} } @conference {Pinter2015, title = {Performing radiation therapy research using the open-source SlicerRT toolkit}, booktitle = {World Congress on Medical Physics and Biomedical Engineering}, year = {2015}, month = {07/2015}, publisher = {Springer}, organization = {Springer}, address = {Toronto}, abstract = {

Radiation therapy (RT) is a common treatment option for a wide variety of cancer types. Despite significant improvements in this technique over the past years, software tools for research in RT are limited to either expensive, closed, proprietary applications or heterogeneous sets of open-source software packages with limited scope, reliability, and user support. Our SlicerRT toolkit aspires to overcome these limitations by providing an extensive set of RT research tools leveraging the advanced visualization and image analysis features of its base platform 3D Slicer.

The SlicerRT toolkit comprises of a set of 3D Slicer extensions: SlicerRT core, Matlab Bridge, Multi-dimensional Data, and Gel Dosimetry. The SlicerRT core extension contains 26 modules, many of which provide common RT tools used in most RT research scenarios. Matlab Bridge provides a convenient way for connecting the researchers{\textquoteright} existing MATLAB algorithms to the SlicerRT ecosystem. Multi-dimensional Data offers a feature set for handling multi-dimensional datasets, such as longitudinal studies or 4D data. Finally, Gel Dosimetry facilitates gel dosimetry analysis workflows through a streamlined, workflow-based end-user application. It serves as an example and proof of concept for such applications implementing advanced clinical or research workflows.

Using these open-source software tools makes it possible to conduct cutting edge RT research without parallel development efforts. It acts as a medium into which researchers can integrate their methods into, and which they can use to perform comparative validation, develop novel RT techniques, or transition advanced methods into routine clinical practice.

}, doi = {10.1007/978-3-319-19387-8_152}, author = {Csaba Pinter and Andras Lasso and An Wang and Gregory C Sharp and Kevin Alexander and David Jaffray and Gabor Fichtinger} } @conference {Carbajal2015, title = {Portable Optically Tracked Ultrasound System for Scoliosis Measurement}, booktitle = {Recent Advances in Computational Methods and Clinical Applications for Spine Imaging (MICCAI 2014)}, volume = {20}, year = {2015}, month = {02/2015}, pages = {37-46}, publisher = {Springer International Publishing}, organization = {Springer International Publishing}, address = {Cambridge, MA}, abstract = {

Monitoring spinal curvature in adolescent kyphoscoliosis requires regular radiographic examinations; however, the applied ionizing radiation increases the risk of cancer. Ultrasound imaging is favorable over X-ray because it does not emit ionizing radiation. It has been shown in the past that tracked ultrasound can be used to localize vertebral transverse processes as landmarks along the spine to measure curvature angles. Tests have been performed with spine phantoms, but scanning protocol, tracking system, data acquisition and processing time has not been considered in human subjects yet. In this paper, a portable optically tracked ultrasound system for scoliosis measurement is presented. It provides a simple way to acquire data in the clinical environment with the aim of comparing results to current X-ray-based measurement. The workflow of the procedure was tested on volunteers. The customized open-source software is shared with the community as part of our effort to make a clinically practical system.

}, isbn = {978-3-319-14147-3}, doi = {10.1007/978-3-319-14148-0_4}, url = {http://link.springer.com/chapter/10.1007/978-3-319-14148-0_4}, author = {Guillermo Carbajal and {\'A}lvaro G{\'o}mez and Gabor Fichtinger and Tamas Ungi} } @conference {Hess2015, title = {Quantification of intraventricular blood clot in MR-guided focused ultrasound surgery}, booktitle = {SPIE Medical Imaging 2015}, volume = {9415}, year = {2015}, month = {02/2015}, pages = {94152J-94152J-9}, abstract = {

Intraventricular hemorrhage (IVH) affects nearly 15\% of preterm infants. It can lead to ventricular dilation and cognitive impairment. To ablate IVH clots, MR-guided focused ultrasound surgery (MRgFUS) is investigated. This procedure requires accurate, fast and consistent quantification of ventricle and clot volumes. We developed a semi-autonomous segmentation (SAS) algorithm for measuring changes in the ventricle and clot volumes. Images are normalized, and then ventricle and clot masks are registered to the images. Voxels of the registered masks and voxels obtained by thresholding the normalized images are used as seed points for competitive region growing, which provides the final segmentation. The user selects the areas of interest for correspondence after thresholding and these selections are the final seeds for region growing. SAS was evaluated on an IVH porcine model. SAS was compared to ground truth manual segmentation (MS) for accuracy, efficiency, and consistency. Accuracy was determined by comparing clot and ventricle volumes produced by SAS and MS, and comparing contours by calculating 95\% Hausdorff distances between the two labels. In Two-One-Sided Test, SAS and MS were found to be significantly equivalent (p \< 0.01). SAS on average was found to be 15 times faster than MS (p \< 0.01). Consistency was determined by repeated segmentation of the same image by both SAS and manual methods, SAS being significantly more consistent than MS (p \< 0.05). SAS is a viable method to quantify the IVH clot and the lateral brain ventricles and it is serving in a large-scale porcine study of MRgFUS treatment of IVH clot lysis.

}, doi = {10.1117/12.2081330}, url = {http://dx.doi.org/10.1117/12.2081330}, author = {Hess, Margaret A. and Thomas Looi and Andras Lasso and Gabor Fichtinger and James Drake} } @conference {Hess2014a, title = {Quantification of intraventricular blood clot in MR-guided focused ultrasound surgery}, booktitle = {SPIE Medical Imaging 2015: Image-Guided Procedures, Robotic Interventions, and Modeling}, volume = {9415}, year = {2015}, month = {03/2015}, pages = {94152J1-94152J9}, address = {Orlando, Florida}, abstract = {

Purpose: Intraventricular hemorrhage (IVH) affects nearly 15\% of preterm infants. It can lead to ventricular dilation and cognitive impairment. To ablate IVH clots, MR-guided focused ultrasound surgery (MRgFUS) is investigated. This procedure requires accurate, fast and consistent quantification of ventricle and clot volumes.
Methods: We developed a semi-autonomous segmentation (SAS) algorithm for measuring changes in the ventricle and clot volumes. Images are normalized, and then ventricle and clot masks are registered to the images. Voxels of the registered masks and voxels obtained by thresholding the normalized images are used as seed points for competitive region growing, which provides the final segmentation. The user selects the areas of interest for correspondence after thresholding and these selections are the final seeds for region growing. SAS was evaluated on an IVH porcine model. Results: SAS was compared to ground truth manual segmentation (MS) for accuracy, efficiency, and consistency. Accuracy was determined by comparing clot and ventricle volumes produced by SAS and MS, and comparing contours by calculating 95\% Hausdorff distances between the two labels. In Two-One-Sided Test, SAS and MS were found to be significantly equivalent (p \< 0.01). SAS on average was found to be 15 times faster than MS (p \< 0.01). Consistency was determined by repeated segmentation of the same image by both SAS and manual methods, SAS being significantly more consistent than MS (p \< 0.05).

Conclusion: SAS is a viable method to quantify the IVH clot and the lateral brain ventricles and it is serving in a large- scale porcine study of MRgFUS treatment of IVH clot lysis.\ 

}, doi = {10.1117/12.2081330}, url = {http://proceedings.spiedigitallibrary.org/proceeding.aspx?articleid=2210357}, author = {Maggie Hess and James Drake}, editor = {Thomas Looi and Andras Lasso and Gabor Fichtinger} } @conference {Ungi2015a, title = {Real Time Navigation In Breast Tumor Surgery}, booktitle = {Computer Assisted Radiology and Surgery, 29th International Congress}, volume = {10}, year = {2015}, month = {06/2015}, pages = {S59-60}, doi = {10.1007/s11548-015-1213-2}, author = {Tamas Ungi and Gabrielle Gauvin and Yeo, Caitlin T and C. Jay Engel and John Rudan and Gabor Fichtinger} } @conference {Sunderland2015, title = {Reconstruction of surfaces from planar contours through contour interpolation}, booktitle = {SPIE Medical Imaging 2015}, volume = {9415}, year = {2015}, pages = {94151R-94151R-8}, abstract = {

Segmented structures such as targets or organs at risk are typically stored as 2D contours contained on evenly spaced cross sectional images (slices). Contour interpolation algorithms are implemented in radiation oncology treatment planning software to turn 2D contours into a 3D surface, however the results differ between algorithms, causing discrepancies in analysis. Our goal was to create an accurate and consistent contour interpolation algorithm that can handle issues such as keyhole contours, rapid changes, and branching. This was primarily motivated by radiation therapy research using the open source SlicerRT extension for the 3D Slicer platform. The implemented algorithm triangulates the mesh by minimizing the length of edges spanning the contours with dynamic programming. The first step in the algorithm is removing keyholes from contours. Correspondence is then found between contour layers and branching patterns are determined. The final step is triangulating the contours and sealing the external contours. The algorithm was tested on contours segmented on computed tomography (CT) images. Some cases such as inner contours, rapid changes in contour size, and branching were handled well by the algorithm when encountered individually. There were some special cases in which the simultaneous occurrence of several of these problems in the same location could cause the algorithm to produce suboptimal mesh. An open source contour interpolation algorithm was implemented in SlicerRT for reconstructing surfaces from planar contours. The implemented algorithm was able to generate qualitatively good 3D mesh from the set of 2D contours for most tested structures.

}, doi = {10.1117/12.2081436}, url = {http://dx.doi.org/10.1117/12.2081436}, author = {Kyle R. Sunderland and Woo, Boyeong and Csaba Pinter and Gabor Fichtinger} } @article {Soehl2015a, title = {Scalable Ultrasound Calibration Phantoms Made From LEGO{\textregistered} Bricks}, volume = {10}, year = {2015}, month = {06/2015}, pages = {S218-S219}, address = {Barcelona, Spain}, doi = {10.1007/s11548-015-1213-2}, author = {Marie Soehl and M. Holden and Andras Lasso and Gabor Fichtinger} } @article {Sadjadi2015b, title = {Simultaneous electromagnetic tracking and calibration for dynamic field distortion compensation}, journal = {IEEE Transactions on Biomedical Engineering (TBME)}, year = {2015}, month = {11/2015}, doi = {10.1109/TBME.2015.2502138}, author = {Hossein Sadjadi and Keyvan Hashtrudi-Zaad and Gabor Fichtinger} } @article {Sadjadi2015a, title = {Simultaneous Localization and Calibration for Electromagnetic Tracking Systems}, journal = {The International Journal of Medical Robotics and Computer Assisted Surgery (IJMRCAS)}, year = {2015}, doi = {10.1002/rcs}, author = {Hossein Sadjadi and Keyvan Hashtrudi-Zaad and Gabor Fichtinger} } @article {Seifabadi2015, title = {Toward teleoperated needle steering under continuous MRI guidance for prostate percutaneous interventions}, journal = {The International Journal of Medical Robotics and Computer Assisted Surgery}, year = {2015}, author = {Reza Seifabadi and Fereshteh Aalamifar and Iulian Iordachita and Gabor Fichtinger} } @article {Carter2015a, title = {Visual feedback mounted on surgical tool}, year = {2015}, month = {03/2015}, pages = {36}, author = {Kaci Carter and Andras Lasso and Tamas Ungi and Evelyn Morin and Gabor Fichtinger} } @article {Cumming2014, title = {3D Printed Patient-Specific Surface Mould Applicators for Brachytherapy Treatment of Superficial Lesions}, volume = {41 (abstract in Medical Physics)}, number = {222}, year = {2014}, month = {06/2014}, abstract = {

Purpose:
Evaluate the feasibility of constructing 3D-printed patient-specific surface mould applicators for HDR brachytherapy treatment of superficial lesions.

Methods:
We propose using computer-aided design software to create 3D printed surface mould applicators for brachytherapy. A mould generation module was developed in the open-source 3D Slicer (www.slicer.org) medical image analysis platform. The system extracts the skin surface from CT images, and generates smooth catheter paths over the region of interest based on user-defined start and end points at a specified stand-off distance from the skin surface. The catheter paths are radially extended to create catheter channels that are sufficiently wide to ensure smooth insertion of catheters for a safe source travel. An outer mould surface is generated to encompass the channels. The mould is also equipped with fiducial markers to ensure its reproducible placement.

A surface mould applicator with eight parallel catheter channels of 4mm diameters was fabricated for the nose region of a head phantom; flexible plastic catheters of 2mm diameter were threaded through these channels maintaining 10mm catheter separations and a 5mm stand-off distance from the skin surface. The apparatus yielded 3mm thickness of mould material between channels and the skin. The mould design was exported as a stereolithography file to a Dimension SST1200es 3D printer and printed using ABS Plus plastic material.

Results:
The applicator closely matched its design and was found to be sufficiently rigid without deformation during repeated application on the head phantom. Catheters were easily threaded into channels carved along catheter paths. Further tests are required to evaluate feasibility of channel diameters smaller than 4mm.

Conclusion:
Construction of 3D-printed mould applicators show promise for use in patient specific brachytherapy of superficial lesions. Further evaluation of 3D printing techniques and materials is required for constructing sufficiently thin, rigid and durable surface moulds suitable for clinical deployment.

}, doi = {http://dx.doi.org/10.1118/1.4888333}, author = {Ian Cumming and C.P. Joshi and Andras Lasso and Adam Rankin and Conrad Falkson and John Schreiner and Gabor Fichtinger} } @article {podder2014aapm, title = {AAPM and GEC-ESTRO guidelines for image-guided robotic brachytherapy: Report of Task Group 192}, journal = {Medical physics}, volume = {41}, number = {10}, year = {2014}, pages = {101501}, author = {Podder, Tarun K and Beaulieu, Luc and Caldwell, Barrett and Robert Cormack and Crass, Jostin B and Dicker, Adam P and Fenster, Aaron and Gabor Fichtinger and Meltsner, Michael A and Moerland, Marinus A and others} } @article {Xu2014a, title = {Accuracy analysis in MRI-guided robotic prostate biopsy}, year = {2014}, month = {03/2014}, pages = {43}, url = {http://www.imno.ca/sites/default/files/2014Proceedings.pdf}, author = {Xu, Helen and Andras Lasso and Peter Guion and Axel Krieger and Aradhana Kaushal and A.K. Singh and P.A. Pinto and Jonathan Coleman and R.L. Grubb III and Jean-Baptiste Lattouf and Cynthia Menard and L.L. Whitcomb and Gabor Fichtinger} } @conference {Cifuentes2014a, title = {Customized deformable image registration using open-source software SlicerRT}, booktitle = {American Association Physicists in Medicine (AAPM)}, volume = {41 (abstract in Medical Physics)}, year = {2014}, month = {06/2014}, address = {Austin, TX}, abstract = {
Purpose:

SlicerRT is a flexible platform that allows the user to incorporate the necessaryimages registration\ and processing tools to improve clinical workflow. This work validates the accuracy and the versatility of the deformable\ image registrationalgorithm of the free open-source\ software\ SlicerRT using a deformable physical pelvic phantom versus available commercial\ image\ fusion algorithms.

Methods:

Optical\ camera\ images\ of nonradiopaque markers implanted in an anatomical pelvic phantom were used to measure the ground-truth deformation and evaluate the theoretical deformations for several DIR algorithms. To perform the registration, full and empty bladder\ computed tomography\ (CT)\ images\ of the phantom were obtained and used as fixed and moving\ images,\ respectively. The DIR module, found in SlicerRT, used a B-spline deformable\ image registration\ with multiple optimization parameters that allowed customization of the registration including a regularization term that controlled the amount of local voxel displacement. The virtual deformation field at the center of the phantom was obtained and compared to the experimental ground-truth values. The parameters of SlicerRT were then varied to improve spatial accuracy. To quantify\ imagesimilarity, the mean absolute difference (MAD) parameter using Hounsfield units was calculated. In addition, the Dice coefficient of the contoured rectum was evaluated to validate the strength of the algorithm to transfer anatomical contours.

Results:

Overall, SlicerRT achieved one of the lowest MAD values across the algorithm spectrum, but slightly smaller mean spatial errors in comparison to MIM\ software(MIM). On the other hand, SlicerRT created higher mean spatial errors than Velocity Medical Solutions (VEL), although obtaining an improvement on the DICE to 0.91. The large spatial errors were attributed to the poor contrast in the prostate bladder interface of the phantom.

Conclusion:

Based phantom validation, SlicerRT is capable of achieving comparable DIR accuracy to commercial programs such as MIM and VEL.

}, doi = {http://dx.doi.org/10.1118/1.4888094}, author = {J Cifuentes and N Kirby and Andras Lasso and L Chin and Csaba Pinter and J Pouliot and Gabor Fichtinger and J Pignol} } @conference {Anand2014b, title = {Design and Development of a Mobile Image Overlay System for Image-Guided Needle Interventions}, booktitle = {36th Annual International Conference of IEEE EMBS}, year = {2014}, month = {Accepted}, publisher = {IEEE EMBS}, organization = {IEEE EMBS}, address = {Chicago, IL, USA}, author = {Manjunath Anand and Franklin King and Tamas Ungi and Andras Lasso and John Rudan and Jagadeesan Jayender and Jan Fritz and John A Carrino and Ferenc Jolesz and Gabor Fichtinger} } @conference {Walsh2014, title = {Design of a tracked ultrasound calibration phantom made of LEGO bricks}, booktitle = {SPIE Medical ImagingMedical Imaging 2014: Image-Guided Procedures, Robotic Interventions, and Modeling}, volume = {9036}, year = {2014}, month = {03/2014}, pages = {90362C}, publisher = {SPIE}, organization = {SPIE}, address = {San Diego, California, USA}, doi = {10.1117/12.2043533}, author = {Ryan Walsh and Marie Soehl and Adam Rankin and Andras Lasso and Gabor Fichtinger} } @article {Anand2014a, title = {Design of mobile image overlay system for image-guided interventions}, year = {2014}, month = {03/2014}, publisher = {ImNO}, address = {Toronto, Canada. March 24-25}, author = {Manjunath Anand and Franklin King and Tamas Ungi and Andras Lasso and John Rudan and Jagadeesan Jayender and Jan Fritz and Ferenc Jolesz and John A Carrino and Gabor Fichtinger} } @article {Sadjadi2014a, title = {Development and Evaluation of a Needle Deflection Estimation Method}, year = {2014}, month = {03/2014}, author = {Hossein Sadjadi and Keyvan Hashtrudi-Zaad and Gabor Fichtinger} } @article {Lugez2014b, title = {Electromagnetic Tracking for Catheter Path Reconstruction}, year = {2014}, month = {09/2014}, pages = {43}, address = {Massachusetts Institute of Technology, Boston, USA}, author = {Elodie Lugez and Hossein Sadjadi and Selim G. Akl and Gabor Fichtinger} } @article {Lugez2014a, title = {Electromagnetic tracking in surgical and interventional environments: usability study}, journal = {Int J CARS}, year = {2014}, month = {09/2014}, author = {Elodie Lugez and Hossein Sadjadi and David R Pichora and Randy Ellis and Selim G. Akl and Gabor Fichtinger} } @conference {Sadjadi2014c, title = {Electromagnetic tracking performance analysis and optimization}, booktitle = {International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)}, year = {2014}, month = {09/2014}, author = {Yu Qi and Hossein Sadjadi and Yeo, Caitlin T and Keyvan Hashtrudi-Zaad and Gabor Fichtinger} } @conference {Kotwicz2014, title = {Feasibility of a touch-free user interface for ultrasound snapshot-guided nephrostomy}, booktitle = {SPIE Medical Imaging 2014: Image-Guided Procedures, Robotic Interventions, and Modeling}, volume = {9036}, year = {2014}, month = {03/2014}, pages = {90362F}, publisher = {SPIE}, organization = {SPIE}, address = {San Diego, California, USA}, doi = {10.1117/12.2043564}, author = {Simon Kotwicz Herniczek and Andras Lasso and Tamas Ungi and Gabor Fichtinger} } @article {Holden2014a, title = {Feasibility of Real-Time Workflow Segmentation for Tracked Needle Interventions}, journal = {IEEE Transactions on Biomedical Engineering}, volume = {61}, number = {6}, year = {2014}, month = {06/2014}, pages = {1720-1728}, issn = {0018-9294}, doi = {10.1109/TBME.2014.2301635}, author = {M. Holden and Tamas Ungi and Derek Sargent and McGraw, Robert C and Elvis C. S. Chen and Sugantha Ganapathy and T. M. Peters and Gabor Fichtinger} } @article {Kuo2014, title = {An image-guidance system for dynamic dose calculation in prostate brachytherapy using ultrasound and fluoroscopy}, journal = {Medical Physics}, volume = {41}, year = {2014}, month = {08/2014}, url = {http://dx.doi.org/10.1118/1.4893761}, author = {Yi Li and E. Clif Burdette and Jerry L. Prince and Gabor Fichtinger and Junghoon Lee and Danny Y Song and Nathanael Kuo and Ehsan Dehghan and Anton Degeut and Omar Mian} } @conference {Alexander2014, title = {Implementation of an efficient workflow process for gel dosimetry using 3D Slicer}, booktitle = {IC3DDose}, year = {2014}, abstract = {

One challenge in gel dosimetry is the manipulation and analysis of complex data sets from different systems. In this paper, we describe a simple and fast gel dosimetry analysis tool for radiation therapy dose deliveries. Using the open source medical imaging software 3D Slicer, an extension was designed and implemented for the purpose of importing treatment planning system dose, CT imaging from simulation and at treatment, and optical CT gel dosimeter data. The extension also allows for calibration of gel dosimeter data, registration, and comparison of 3D dose distributions. The development of an open source gel dosimetry processing environment may help adoption of gels in the clinic.

}, author = {Kevin Alexander and Csaba Pinter and Jennifer Andrea and Gabor Fichtinger and John Schreiner} } @article {Pinter2014, title = {Improvements in SlicerRT, the radiation therapy research toolkit for 3D Slicer}, year = {2014}, month = {03/2014}, pages = {79}, address = {Toronto, ON, Canada, March 24-25, 2014}, url = {http://www.imno.ca/sites/default/files/2014Proceedings.pdf}, author = {Csaba Pinter and Andras Lasso and An Wang and Gregory C Sharp and David Jaffray and Gabor Fichtinger} } @article {Cifuentes2014, title = {Integration of SlicerRT into the clinical adaptive radiation therapy workflow: deformable image registration algorithm optimization and validation}, year = {2014}, month = {03/2014}, pages = {66}, url = {http://www.imno.ca/sites/default/files/2014Proceedings.pdf}, author = {J Cifuentes and Eric Vorauer and Peggy Le and Daniel Glick and Jonathan Livergant and Csaba Pinter and Andras Lasso and Gabor Fichtinger and Lee Chin} } @article {Glick2014, title = {Interfraction Variation in Dose and Position During the Treatment of Pancreatic Cancer Using Tomotherapy}, year = {2014}, month = {03/2014}, pages = {70}, url = {http://www.imno.ca/sites/default/files/2014Proceedings.pdf}, author = {Daniel Glick and Eric Vorauer and J Cifuentes and Frances Tonolete and Csaba Pinter and Gabor Fichtinger and Andras Lasso and Lee Chin and Hans Chung} } @article {Holden2014b, title = {Linear Object Registration: A Registration Algorithm using Points, Lines, and Planes}, year = {2014}, month = {03/2014}, address = {Toronto, Canada}, author = {M. Holden and Gabor Fichtinger} } @conference {Holden2014c, title = {Linear Object Registration of Interventional Tools}, booktitle = {Workshop on Augmented Environments for Computer-Assisted Interventions}, volume = {LNCS 8678}, year = {2014}, month = {09/2014}, pages = {118-127}, publisher = {Springer International Publishing}, organization = {Springer International Publishing}, chapter = {Linear Object Registration of Interventional Tools}, address = {Boston, MA}, abstract = {

PURPOSE: Point-set registration for interventional tools requires well-defined points to be present on these tools. In this work, an algorithm is proposed which uses planes, lines, and points for registration when point-set registration is not feasible. METHODS: The proposed algorithm matches points, lines, and planes in each coordinate system, uses invariant features for initial registration, and optimizes the registration iteratively. For validation, simulated data with known ground-truth and real surgical tool registration data using point-set registration as ground-truth were created to evaluate the algorithm{\textquoteright}s accuracy. RESULTS: The proposed algorithm is equally as accurate as point-set registration, and the difference between the registrations is less than the noise in the tracking system. CONCLUSION: The proposed algorithm is a viable alternative when point-set registration cannot be performed.

}, keywords = {Coordinate transformations, Registration, Surgical navigation}, doi = {10.1007/978-3-319-10437-9_13}, url = {http://link.springer.com/chapter/10.1007/978-3-319-10437-9_13}, author = {M. Holden and Gabor Fichtinger} } @article {Fritz2014, title = {MR-Guided Vertebroplasty With Augmented Reality Image Overlay Navigation}, journal = {Cardiovasc Intervent Radiol}, year = {2014}, month = {04/2014}, doi = {10.1007/s00270-014-0885-2}, author = {Jan Fritz and Paweena U-Thainual and Tamas Ungi and Aaron J Flammang and Sudhir Kathuria and Gabor Fichtinger and Iulian Iordachita and John A Carrino} } @article {Xu2014c, title = {Multi-slice-to-volume registration for MRI-guided transperineal prostate biopsy}, journal = {International Journal of Computer Assisted Radiology and Surgery}, volume = {10}, number = {5}, year = {2014}, month = {09/2014}, pages = {563-572}, issn = {1861-6410}, doi = {10.1007/s11548-014-1108-7}, author = {Xu, Helen and Andras Lasso and Andriy Fedorov and Kemal Tuncali and Clare M Tempany and Gabor Fichtinger} } @article {Sadjadi2014b, title = {Needle Deflection Estimation: Prostate Brachytherapy Phantom Experiments}, journal = {International Journal of Computer Assisted Radiology and Surgery (IJCARS)}, year = {2014}, month = {03/2014}, doi = {10.1007/s11548-014-0985-0}, url = {http://dx.doi.org/10.1007/s11548-014-0985-0}, author = {Hossein Sadjadi and Keyvan Hashtrudi-Zaad and Gabor Fichtinger} } @article {Keri2014a, title = {A novel technology for teaching ultrasound-guided lumbar puncture with Perk Tutor}, year = {2014}, month = {03/2014}, address = {Toronto, Ontario, March 23, 2014}, author = {Keri, Zsuzsanna and Devin Sydor and Tamas Ungi and M. Holden and McGraw, Robert C and Daniel P. Borschneck and Melanie Jaeger and Gabor Fichtinger} } @article {Fuoco2014, title = {Percutaneous nephrostomy for dummies: electromagnetic needle guidance with tracked ultrasound snapshots in a simulation model}, year = {2014}, address = {Orlando, FL, USA, May 16-21}, author = {Darren Beiko and Michael Fuoco and Tamas Ungi and Robert Siemens and Gabor Fichtinger} } @article {Lasso2014a, title = {PLUS: Open-source toolkit for ultrasound-guided intervention systems}, journal = {IEEE Transactions on Biomedical Engineering}, volume = {61}, number = {10}, year = {2014}, month = {10/2014}, pages = {2527-2537}, issn = {0018-9294}, doi = {10.1109/TBME.2014.2322864}, author = {Andras Lasso and Tamas Heffter and Adam Rankin and Csaba Pinter and Tamas Ungi and Gabor Fichtinger} } @article {Anderson2014, title = {Proposed Feasibility Analysis of Low Cost Inertial Freehand Ultrasound Position Tracking}, year = {2014}, address = {Toronto, Ontario}, author = {Anderson, Ryan and Andras Lasso and Keyvan Hashtrudi-Zaad and Gabor Fichtinger} } @article {Gauvin2014b, title = {Real-time electromagnetic navigation for breast tumor resection: proof of concept}, year = {2014}, month = {06/2014}, address = {Kingston, ON, Canada}, author = {Gabrielle Gauvin and Yeo, Caitlin T and Tamas Ungi and Gabor Fichtinger and John Rudan and C. Jay Engel} } @article {Gauvin2014c, title = {Real-Time Electromagnetic Navigation for Breast Tumor Resection: Proof of Concept}, year = {2014}, month = {09/2014}, address = {Vancouver, BC, Canada}, author = {Gabrielle Gauvin and Yeo, Caitlin T and Tamas Ungi and C. Jay Engel and Gabor Fichtinger and John Rudan} } @conference {Gauvin2014d, title = {Real-time electromagnetic navigation for breast tumor resection: proof of concept}, booktitle = {The Hamlyn Symposium on Medical Robotics}, year = {2014}, month = {07/2014}, pages = {39-40}, address = {London, UK}, author = {Gabrielle Gauvin and Yeo, Caitlin T and Tamas Ungi and Gabor Fichtinger and John Rudan and C. Jay Engel} } @article {Gauvin2014a, title = {Real-time EM navigated breast conserving surgery: phantom and cadaver experiments}, year = {2014}, month = {09/2014}, address = {Cambridge, MA, USA}, author = {Gabrielle Gauvin and Yeo, Caitlin T and Tamas Ungi and Gabor Fichtinger and Nanji, Sulaiman and John Rudan and C. Jay Engel} } @article {Lasso2014b, title = {Running Matlab functions in 3D Slicer using MatlabBridge}, year = {2014}, month = {03/2014}, pages = {78}, address = {Toronto, ON, Canada, March 24-25, 2014}, url = {http://www.imno.ca/sites/default/files/2014Proceedings.pdf}, author = {Andras Lasso and Kevin Alexander and Christopher Jechel and Kevin Wang and John Schreiner and Gabor Fichtinger} } @article {Andrea2014a, title = {Slicelet implementation for gel dosimetry analysis}, year = {2014}, month = {03/2014}, pages = {63}, address = {Toronto, Canada}, url = {http://www.imno.ca/sites/default/files/2014Proceedings.pdf}, author = {Jennifer Andrea and Mattea Welch and Csaba Pinter and Kevin Alexander and John Schreiner and Gabor Fichtinger} } @article {Ungi2014a, title = {Spinal curvature measurement by tracked ultrasound snapshots}, journal = {Ultrasound in Medicine and Biology}, volume = {40}, year = {2014}, month = {02/2014}, pages = {447-54}, author = {Tamas Ungi and Franklin King and Michael Kempston and Keri, Zsuzsanna and Andras Lasso and Parvin Mousavi and John Rudan and Daniel P. Borschneck and Gabor Fichtinger} } @article {Xu2014b, title = {Target Localization in MRI-guided Transperineal Prostate Biopsy using Multi-Slice-to-Volume Registration}, year = {2014}, month = {03/2014}, pages = {44}, url = {http://www.imno.ca/sites/default/files/2014Proceedings.pdf}, author = {Xu, Helen and Andras Lasso and Andriy Fedorov and Clare M Tempany and Gabor Fichtinger} } @article {King2014b, title = {A tool for intraoperative visualization of image registration results}, year = {2014}, month = {03/2014}, publisher = {ImNO}, address = {Toronto, Canada, March 24-25}, author = {Franklin King and Andras Lasso and Csaba Pinter and Gabor Fichtinger} } @conference {King2014a, title = {A tool for intraoperative visualization of registration results}, booktitle = {SPIE Medical Imaging 2014}, volume = {9036}, year = {2014}, month = {03/2014}, pages = {90362A}, publisher = {SPIE}, organization = {SPIE}, address = {San Diego, California, USA}, doi = {10.1117/12.2043496}, author = {Franklin King and Andras Lasso and Csaba Pinter and Gabor Fichtinger} } @article {Ungi2014b, title = {Tracked ultrasonography snapshots enhance needle guidance for percutaneous renal access: a pilot study}, journal = {J Endourol}, volume = {28}, number = {9}, year = {2014}, month = {05/2014}, pages = {1040-5}, author = {Tamas Ungi and Darren Beiko and Michael Fuoco and Franklin King and M. Holden and Gabor Fichtinger and Robert Siemens} } @conference {Soehl2014, title = {Tracked ultrasound calibration studies with a phantom made of LEGO(r) bricks}, booktitle = {SPIE Medical Imaging 2014}, volume = {9036}, year = {2014}, month = {03/2014}, pages = {90362R}, address = {San Diego, United States, March 12, 2014}, doi = {10.1117/12.2044121}, author = {Marie Soehl and Ryan Walsh and Adam Rankin and Andras Lasso and Gabor Fichtinger} } @article {Soehl2014a, title = {Tracked ultrasound calibration studies with a phantom made of LEGO{\textregistered} bricks}, year = {2014}, address = {Toronto, Canada, March 24-25, 2014}, author = {Marie Soehl and Ryan Walsh and Adam Rankin and Andras Lasso and Gabor Fichtinger} } @inbook {Ungi2014c, title = {Tracked Ultrasound in Navigated Spine Interventions}, booktitle = {Spinal Imaging and Image Analysis}, year = {2014}, month = {12/2014}, pages = {469-94}, publisher = {Springer International Publishing}, organization = {Springer International Publishing}, chapter = {15}, address = {Cham, Switzerland}, abstract = {

Ultrasound is an increasingly popular imaging modality in image-guided interventions, due to its safety, accessibility, and low cost. But ultrasound imaging\ has a steep learning curve, and requires significant coordination skills from the operator. It is difficult to interpret cross-sectional anatomy in arbitrary angles, and\ even more challenging to orient a needle with respect to the ultrasound plane. Position tracking technology is a promising augmentation method to ultrasound\ imaging. Both the ultrasound transducer and the needle can be tracked, enabling computer-assisted navigation applications in ultrasound-guided spinal interventions.\ Furthermore, the patient can also be tracked, which enables fusion of other imaging modalities with ultrasound. In this chapter, we first present the technical\ background of tracked ultrasound. We will review how to build research systems from commercially available components and open-source software. Then we will\ review some spine-related applications of tracked ultrasound modality, including procedural skills training, needle navigation for anesthesia, surgical navigation, and\ other potential applications.

}, doi = {10.1007/978-3-319-12508-4_15}, url = {http://link.springer.com/chapter/10.1007/978-3-319-12508-4_15}, author = {Tamas Ungi and Andras Lasso and Gabor Fichtinger} } @article {Ungi2014c, title = {Tracked ultrasound snapshots improve the performance of novices in simulated percutaneous nephrostomy}, year = {2014}, month = {03/2014}, address = {Toronto, Ontario, March 23, 2014}, author = {Gabor Fichtinger and Robert Siemens and M. Holden and Tamas Ungi and Darren Beiko and Michael Fuoco and Franklin King} } @article {Xu2013b, title = {Accuracy analysis in MRI-guided robotic prostate biopsy}, journal = {International Journal of Computer Assisted Radiology and Surgery}, volume = {8}, number = {6}, year = {2013}, month = {03/2013}, pages = {937-944}, doi = {10.1007/s11548-013-0831-9}, author = {Xu, Helen and Andras Lasso and Peter Guion and Axel Krieger and Aradhana Kaushal and Anurag K. Singh and P.A. Pinto and Jonathan Coleman and R.L. Grubb III and Jean-Baptiste Lattouf and Cynthia Menard and Whitcomb, Louis L. and Gabor Fichtinger} } @article {Xu2013, title = {Accuracy analysis in MRI-guided robotic prostate biopsy}, volume = {8}, number = {1}, year = {2013}, pages = {211}, publisher = {Springer}, address = {Heidelberg, Germany, June 26-29}, author = {Xu, Helen and Andras Lasso and Peter Guion and Axel Krieger and Aradhana Kaushal and Anurag K. Singh and P.A. Pinto and Jonathan Coleman and R.L. Grubb III and Jean-Baptiste Lattouf and Cynthia Menard and Whitcomb, Louis L. and Gabor Fichtinger} } @article {Fritz2013a, title = {Augmented reality visualisation using an image overlay system for MR-guided interventions: technical performance of spine injection procedures in human cadavers at 1.5 Tesla}, journal = {European Radiology}, volume = {23}, year = {2013}, month = {01/2013}, pages = {235-245}, issn = {0938-7994}, doi = {10.1007/s00330-012-2569-0}, url = {http://www.ncbi.nlm.nih.gov/pubmed/22797956}, author = {Jan Fritz and Paweena U-Thainual and Tamas Ungi and Aaron J Flammang and Gabor Fichtinger and Iulian Iordachita and John A Carrino} } @article {Fritz2013b, title = {Augmented Reality Visualization Using Image Overlay Technology for MR-Guided Interventions: Cadaveric Bone Biopsy at 1.5 T}, journal = {Investigative Radiology}, volume = {48}, number = {6}, year = {2013}, month = {06/2013}, keywords = {augmented reality, image overlay, interventional MR imaging, MR-guided, MRI guidance, MRI-guided bone biopsy, navigation, osscous biopsy}, url = {http://www.ncbi.nlm.nih.gov/pubmed/23328911}, author = {Jan Fritz and Paweena U-Thainual and Tamas Ungi and Aaron J Flammang and McCarthy, EF. and Gabor Fichtinger and Iulian Iordachita and John A Carrino} } @article {Ogilvie2013, title = {Automated Brachytherapy Calibration: System and Phantom Design}, year = {2013}, month = {02/2013}, address = {Toronto, Canada, February 4th-5th 2013}, author = {Ogilvie, Colleen and Martin, Cara and Law, Trevor and Vandersleen, Philip and Csaba Pinter and Adam Rankin and Gabor Fichtinger} } @article {Wolff2013b, title = {C-arm angle measurement with accelerometer for brachytherapy: an accuracy study}, journal = {International Journal of Computer Assisted Radiology and Surgery}, year = {2013}, month = {07/2013}, issn = {1861-6429}, doi = {10.1007/s11548-013-0918-3}, author = {Wolff, Thomas and Andras Lasso and Eblenkamp, Markus and Wintermantel, Erich and Gabor Fichtinger} } @article {Wolff2013, title = {C-arm angle measurement with accelerometer for brachytherapy{\textemdash}an accuracy study}, volume = {8}, year = {2013}, pages = {183-184}, author = {Wolff, Thomas and Andras Lasso and Eblenkamp, Markus and Wintermantel, Erich and Gabor Fichtinger} } @conference {Filippo2013, title = {Declustering n-Connected Components for Segmentation of Iodine Implants in C-Arm Fluoroscopy Images}, booktitle = {Information Processing in Computer-Assisted Interventions (IPCAI)}, year = {2013}, month = {06/2013}, pages = {101-110}, publisher = {Springer}, organization = {Springer}, address = {Heidelberg, Germany, June 26, 2013}, author = {Chiara Amat di San Filippo and Gabor Fichtinger and William J. Morris and Septimiu E. Salcudean and Ehsan Dehghan and Pascal Fallavollita} } @conference {Monfaredi2013a, title = {Design of a Decoupled MRI-compatible Force Sensor using Fiber Bragg Grating Sensors for Robot-assisted Prostate Interventions}, booktitle = {SPIE}, volume = {8671}, year = {2013}, month = {03/2013}, address = {Orlando, Floirda}, abstract = {

{During prostate needle insertion, the gland rotates and displaces resulting in needle placement inaccuracy. To compensate for this error, we proposed master-slave needle steering under real-time MRI in a previous study. For MRI-compatibility and accurate motion control, the master (and the slave) robot uses piezo actuators. These actuators however, are non-backdrivable. To cope with this issue, force sensor is required. Force sensor is also required at the slave side to reflect the insertion force to clinician{\textquoteright}s hand through the master robot. Currently, there is no MRI-compatible force sensor commercially available. In order to generate a combination of linear and rotary motions for needle steering, this study is seeking to develop a MRI-compatible 2 Degrees of Freedom (DOF) force/torque sensor. Fiber Brag Grating (FBG) strain measuring sensors which are proven to be MRI-compatible are used. The active element is made of phosphor-bronze and other parts are made of brass. The force and torque measurements are designed to be entirely decoupled. The sensor measures -20 to 20 N axial force with 0.1 N resolution, and -200 to 200 Nmm axial torque with 1 Nmm resolution. Analytical and Finite Element (FE) analyses are performed to ensure the strains are within the measurable range of the FBG sensors. The sensor is designed to be compact (diameter =15 mm

}, keywords = {FBG, force sensor, MRI -compatible}, doi = {0.1117/12.2008160}, author = {Monfaredi, R and Reza Seifabadi and Gabor Fichtinger and Iulian Iordachita} } @conference {Sadjadi2013b, title = {Experimental evaluation of needle deflection estimation for brachytherapy}, booktitle = {Computer Assisted Radiology and Surgery (CARS 2013)}, year = {2013}, month = {03/2013}, author = {Hossein Sadjadi and Keyvan Hashtrudi-Zaad and Xu, Helen and Gabor Fichtinger} } @conference {Welch2013b, title = {Freehand ultrasound calibration: phantom versus tracked pointer}, booktitle = {SPIE}, year = {2013}, month = {02/2013}, address = {Lake Buena Vista, Florida, United States}, keywords = {N-Wire Phantom, Tracked Pointer Calibration, Ultrasound Calibration}, author = {Mattea Welch and Jennifer Andrea and Tamas Ungi and Gabor Fichtinger} } @article {Sadjadi2013a, title = {Fusion of Electromagnetic Trackers to Improve Needle Deflection Estimation: Simulation Study}, journal = {IEEE Transactions on Biomedical Engineering}, volume = {60}, year = {2013}, month = {10/2013}, pages = {2706 - 2715}, issn = {0018-9294}, doi = {10.1109/TBME.2013.2262658}, author = {Hossein Sadjadi and Keyvan Hashtrudi-Zaad and Gabor Fichtinger} } @article {Carbajal2013c, title = {Improving N-Wire Phantom-based Freehand Ultrasound Calibration}, journal = {IJCARS}, volume = {8}, year = {2013}, month = {11/2013}, pages = {1063-1072}, abstract = {

Purpose: Freehand tracked ultrasound imaging is an inexpensive non-invasive technique used in several guided interventions. This technique requires spatial calibration between the tracker and the ultrasound image plane. Several calibration devices (a.k.a. phantoms) use N-wires that are convenient for automatic procedures since the segmentation of fiducials in the images and the localization of the middle wires in space are straightforward and can be performed in real time. The procedures reported in literature consider only the spatial position of the middle wire. We investigate if better results can be achieved if the information of all the wires is equally taken into account. We also evaluated the precision and accuracy of the implemented methods to allow comparison with other methods. Methods: We consider a cost function based on the in-plane errors between the intersection of all the wires with the image plane and their respective segmented points in the image. This cost function is minimized iteratively starting from a seed computed with a closed-form solution based on the middle wires. Results: Mean calibration precision achieved with the N-wire phantom was about 0.5 mm using a shallow probe and mean accuracy was around 1.4 mm with all implemented methods. Precision was about 2.0 mm using a deep probe. Conclusions: Precision and accuracy achieved with the N-wire phantom and a shallow probe are at least comparable to that obtained with other methods traditionally considered more precise. Calibration using N-wires can be done more consistently if the parameters are optimized with the proposed 2D cost function.

}, doi = {10.1007/s11548-013-0904-9}, author = {Guillermo Carbajal and Andras Lasso and {\'A}lvaro G{\'o}mez and Gabor Fichtinger} } @article {Carbajal2013a, title = {Improving N-Wire Phantom-based Freehand Ultrasound Calibration}, year = {2013}, month = {02/2013}, address = {Toronto, Canada, February 4th-5th 2013}, author = {Guillermo Carbajal and Andras Lasso and {\'A}lvaro G{\'o}mez and Gabor Fichtinger} } @conference {Carbajal2013b, title = {Improving N-Wire Phantom-based Freehand Ultrasound Calibration}, booktitle = {CARS 2013}, year = {2013}, author = {Guillermo Carbajal and Andras Lasso and {\'A}lvaro G{\'o}mez and Gabor Fichtinger} } @article {Chin2013, title = {Integration of SlicerRT into the Radiation Therapy Clinical Workflow}, year = {2013}, month = {02/2013}, author = {Lee Chin and Matt Wronski and Jonathan Livergant and Andrew Agbanti and Darren Yohan and Judith Balogh and Andras Lasso and Gabor Fichtinger} } @article {Livergant2013, title = {Investigation of daily deformable image registration for adaptive radiation therapy in head and neck cancer}, year = {2013}, address = {Montreal, QC}, author = {Jonathan Livergant and Eric Vorauer and Andrew Agbanti and Andras Lasso and Csaba Pinter and Gabor Fichtinger and Lee Chin} } @article {Anand2013a, title = {Mobile Image Overlay System for Image Guided Interventions}, year = {2013}, month = {03/2013}, address = {Washington DC, USA, March 21-23, 2013.}, keywords = {image guided interventions, mobile image overlay, needle placement interventions, percutaneous interventions, static image overlay}, author = {Manjunath Anand and Tamas Ungi and Andras Lasso and Paweena U-Thainual and Jagadeesan Jayender and Jan Fritz and John A Carrino and Ferenc Jolesz and Gabor Fichtinger} } @article {Anand2013c, title = {MOBILE IMAGE OVERLAY SYSTEM (MIOS) FOR IMAGE GUIDED INTERVENTIONS}, year = {2013}, month = {06/2013}, address = {Faculty of Health Sciences, Queen{\textquoteright}s University}, author = {Manjunath Anand and Tamas Ungi and Andras Lasso and Paweena U-Thainual and Jagadeesan Jayender and Jan Fritz and John A Carrino and Ferenc Jolesz and Gabor Fichtinger} } @article {U-Thainual2013a, title = {MR Image Overlay Adjustable Plane System for Musculoskeletal Interventions}, year = {2013}, address = {Toronto, Ontario, Canada, February 4-5, 2013}, keywords = {adjustable plane overlay system, augmented reality system, image overlay, MRI-guided}, author = {Paweena U-Thainual and Jan Fritz and Tamas Ungi and John A Carrino and Gabor Fichtinger and Iulian Iordachita} } @article {U-Thainual2013b, title = {MR image overlay guidance: system evaluation for preclinical use}, journal = {International Journal of Computer Assisted Radiology and Surgery}, volume = {8}, year = {2013}, month = {05/2013}, pages = {365-378}, issn = {1861-6410}, doi = {10.1007/s11548-012-0788-0}, author = {Paweena U-Thainual and Jan Fritz and Choladawan Moonjaita and Tamas Ungi and Aaron J Flammang and John A Carrino and Gabor Fichtinger and Iulian Iordachita} } @article {Bartha2013a, title = {Open Source Ultrasound Simulation Using Surface Meshes}, year = {2013}, month = {02/2013}, address = {Toronto, Canada, February 4th-5th}, keywords = {PLUS toolkit, surface mesh, training, ultrasound simulation}, author = {Laura Bartha and Andras Lasso and Csaba Pinter and Tamas Ungi and Gabor Fichtinger} } @conference {Bartha2013c, title = {Open-Source Surface Mesh-Based Ultrasound Simulator}, booktitle = {CARS 2013}, volume = {8}, year = {2013}, month = {06/2013}, pages = {156}, author = {Laura Bartha and Andras Lasso and Csaba Pinter and Tamas Ungi and Gabor Fichtinger} } @article {Bartha2013b, title = {Open-source surface mesh-based ultrasound-guided spinal intervention simulator}, journal = {International Journal of Computer Assisted Radiology and Surgery}, volume = {8}, year = {2013}, month = {06/2013}, pages = {1043-51}, doi = {10.1007/s11548-013-0901-z}, author = {Laura Bartha and Andras Lasso and Csaba Pinter and Tamas Ungi and Keri, Zsuzsanna and Gabor Fichtinger} } @article {Fuoco2013, title = {Percutaneous nephrostomy made easy: electromagnetic needle guidance with tracked ultrasound snapshots in a simulation model}, volume = {J Endourol 27(Suppl 1)}, year = {2013}, month = {10/2013}, pages = {A100}, address = {New Orleans, USA, October 22-26, 2013}, author = {Michael Fuoco and Tamas Ungi and Robert Siemens and Gabor Fichtinger and Darren Beiko} } @article {Welch2013a, title = {Perk Tutor Improves Ultrasound-Guided Facet Joint Injection Training}, year = {2013}, month = {02/2013}, address = {Toronto, Canada, February 4th-5th}, keywords = {Facet joint injections, Perk Tutor}, author = {Mattea Welch and Eric Moult and Tamas Ungi and McGraw, Robert C and Gabor Fichtinger} } @article {Ungi2013b, title = {Perk Tutor: Open-source platform for ultrasound-guided needle intervention training}, year = {2013}, month = {02/2013}, address = {Toronto, ON, Canada}, author = {Tamas Ungi and Eric Moult and Andras Lasso and McGraw, Robert C and Gabor Fichtinger} } @article {Bartha2013, title = {The Perk Tutor Training Platform Integrated with Simulated Ultrasound}, year = {2013}, month = {03/2013}, author = {Laura Bartha and Andras Lasso and Csaba Pinter and Tamas Ungi and Gabor Fichtinger} } @article {Lasso2013a, title = {Prototyping Clinical Applications with the Public Library for Ultrasound (PLUS) Toolkit and 3D Slicer}, volume = {6}, year = {2013}, month = {03/2013}, pages = {34}, address = {Crystal City, VA, USA}, url = {http://www.ncigt.org/publications/item/view/2334}, author = {Andras Lasso and Tamas Ungi and Csaba Pinter and Tamas Heffter and Adam Rankin and Gabor Fichtinger} } @article {Ungi2013c, title = {Prototyping image-guided therapy applications using the SlicerIGT platform}, volume = {6}, year = {2013}, month = {03/2013}, pages = {61}, address = {Crystal City, VA, USA}, url = {http://www.spl.harvard.edu/publications/item/view/2334}, author = {Tamas Ungi and Junichi Tokuda and Adam Rankin and Andras Lasso and Gabor Fichtinger} } @article {Seifabadi2013a, title = {Real-Time 3D Needle Shape Tracking Using Fiber Bragg Grating Sensors for Prostate Percutaneous Interventions}, year = {2013}, address = {Crystal City, VA, USA}, abstract = {

During prostate needle insertion, the gland and therefore targets move resulting in targeting inaccuracy. To compensate for this error, in a previous study we proposed robotic bevel-tip needle steering under live MRI. One important drawback is that tracking a flexible (20G) needle under real-time MRI is inaccurate due to the needle artifact and the image update frequency is relatively slow (\>200 ms). As an alternative solution, we embedded some FBG strain sensors along the needle shaft at certain locations and reconstruct the needle shape from this information. Compared to the previous study on this topic by others, the following development have been done: 1) this study is extended to needle of higher gauge (thinner), 2) we guarantee below 0.5 mm accuracy at the needle tip for all insertion depth, 3) we extended it to bevel-tip needles (through modelling and mathematical formulation), 4) we visualized the 3D shape of the needle in 3D Slicer which is a commonly used planning and navigation software for prostate interventions, 5) our needle tracking is real-time.

}, keywords = {3D Slicer, MRI, needle tracking, real-time}, author = {Reza Seifabadi and Esteban Escobar Gomez and Fereshteh Aalamifar and Gabor Fichtinger and Iulian Iordachita} } @article {Holden2013a, title = {Real-Time Workflow Segmentation for Needle-Based Interventions}, year = {2013}, month = {02/2013}, address = {Toronto, ON, Canada}, author = {M. Holden and Tamas Ungi and Sargent, D. and McGraw, Robert C and Elvis C. S. Chen and Sugantha Ganapathy and T. M. Peters and Gabor Fichtinger} } @article {Ungi2013a, title = {SlicerIGT: Open-source platform for image-guided needle interventions}, year = {2013}, month = {02/2013}, address = {Toronto, ON, Canada}, author = {Tamas Ungi and Andras Lasso and Csaba Pinter and Adam Rankin and Gabor Fichtinger} } @article {Pinter2013a, title = {SlicerRT {\textendash} Radiation therapy research toolkit for 3D Slicer}, year = {2013}, month = {02/2013}, address = {Toronto, ON, Canada}, author = {Csaba Pinter and Andras Lasso and An Wang and David Jaffray and Gabor Fichtinger} } @article {Pinter2013b, title = {SlicerRT sets new standard for radiation therapy research tools}, journal = {ECR Today 2013}, year = {2013}, month = {03/2013}, pages = {19}, edition = {Technology Focus}, author = {Csaba Pinter and Andras Lasso and An Wang and David Jaffray and Gabor Fichtinger} } @article {Moult2013b, title = {Temporal calibration of tracked ultrasound}, year = {2013}, month = {02/2013}, address = {Toronto, ON, Canada}, author = {Eric Moult and Tamas Ungi and Csaba Pinter and Mattea Welch and Andras Lasso and Gabor Fichtinger} } @article {Fedorov2013, title = {Towards Open Source Infrastructure for Joint MRI/TRUS Guided Prostate Interventions}, volume = {6}, year = {2013}, month = {03/2013}, pages = {67}, address = {Crystal City, VA, USA}, url = {http://www.spl.harvard.edu/publications/item/view/2334}, author = {Andriy Fedorov and Andras Lasso and Mehdi Moradi and Sang-Eun Song and Emily Neubauer and Robert Owen and Tina Kapur and William Wells and Paul Nguyen and Gabor Fichtinger and Clare M Tempany} } @article {Ungi2013e, title = {Ultrasound Snapshots in Percutaneous Pedicle Screw Placement Navigation: A Feasibility Study}, journal = {Clinical Orthopaedics and Related Research}, year = {2013}, month = {2013}, author = {Tamas Ungi and Eric Moult and Joseph H. Schwab and Gabor Fichtinger} } @article {Imani2013, title = {Ultrasound-guided Characterization of Interstitial Ablated Tissue Using RF Time Series: Feasibility Study.}, journal = {IEEE transactions on bio-medical engineering}, year = {2013}, month = {01/2013}, abstract = {

This paper presents the results of a feasibility study to demonstrate the application of ultrasound RF time series imaging to accurately differentiate ablated and non-ablated tissue. Methods: For 12 ex vivo and two in situ tissue samples, RF ultrasound signals are acquired prior to, and following, high intensity ultrasound ablation. Spatial and temporal features of these signals are used to characterize ablated and non-ablated tissue in a supervised-learning framework. Results: In crossvalidation evaluation, a subset of four features extracted from RF time series produce a classification accuracy of 84.5\%, and an area under ROC curve of 0.91 for ex vivo data, and an accuracy of 85\% for in situ data. Conclusion: Ultrasound RF time series is a promising approach for characterizing ablated tissue.

}, url = {http://www.ncbi.nlm.nih.gov/pubmed/23335657}, author = {F Imani and Purang Abolmaesumi and Wu, M. and Andras Lasso and E. Clif Burdette and Ghoshal, G and Tamas Heffter and Williams, E and Neubauer, P and Gabor Fichtinger and Parvin Mousavi} } @article {Moult2013a, title = {Ultrasound-guided facet joint injection training using Perk Tutor}, journal = {International Journal of Computer Assisted Radiology and Surgery}, volume = {8}, year = {2013}, month = {09/2013}, pages = {831-6}, doi = {10.1007/s11548-012-0811-5}, url = {http://link.springer.com/article/10.1007\%2Fs11548-012-0811-5}, author = {Eric Moult and Tamas Ungi and Mattea Welch and J. Lu and McGraw, Robert C and Gabor Fichtinger} } @conference {Anand2013b, title = {Workspace Analysis and Calibration Method for Mobile Image Overlay System used for Image-Guided Interventions}, booktitle = {The Hamlyn Symposium on Medical Robotics - 2013}, year = {2013}, month = {06/2013}, author = {Manjunath Anand and Tamas Ungi and Andras Lasso and Paweena U-Thainual and Jagadeesan Jayender and Jan Fritz and John A Carrino and Ferenc Jolesz and Gabor Fichtinger} } @article {Siefabadi2012a, title = {Acuracy Study of a MRI-guided Robotic System for Prostate Needle Placement}, journal = {The International Journal of Medical Robotics and Computer Assisted Surgery (IJMRCAS)}, year = {2012}, abstract = {

Background: Accurate needle placement is the first concern in percutaneous MRI-guided prostate interventions. In this phantom study, different sources contributing to the overall needle placement error of a MRI-guided robot for prostate biopsy have been identified, quantified, and minimized to the possible extent. Methods and Materials: The overall needle placement error of the system was evaluated in a prostate phantom. This error was broken into two parts: the error associated with the robotic system (called before-insertion error) and the error associated with needle-tissue interaction (called due-to-insertion error). The before-insertion error was measured directly in a soft phantom and different sources contributing into this part were identified and quantified. A calibration methodology was developed to minimize the 4-DOF manipulator{\textquoteright}s error. The due-toinsertion error was indirectly approximated by comparing the overall error and the beforeinsertion error. The effect of sterilization on the manipulator{\textquoteright}s accuracy and repeatability was also studied. Results: The average overall system error in phantom study was 2.5 mm (STD=1.1mm). The average robotic system error in super soft phantom was 1.3 mm (STD=0.7 mm). Assuming orthogonal error components, the needle-tissue interaction error was approximated to be 2.13 mm thus having larger contribution to the overall error. The average susceptibility artifact shift was 0.2 mm. The manipulator{\textquoteright}s targeting accuracy was 0.71 mm (STD=0.21mm) after robot calibration. The robot{\textquoteright}s repeatability was 0.13 mm. Sterilization had no noticeable influence on the robot{\textquoteright}s accuracy and repeatability. Conclusions: The experimental methodology presented in this paper may help researchers to identify, quantify, and minimize different sources contributing into the overall needle placement error of an MRI-guided robotic system for prostate needle placement. In the robotic system analyzed here, the overall error of the studied system remained within the acceptable range.

}, doi = {10.1002/rcs.1440}, url = {http://onlinelibrary.wiley.com/doi/10.1002/rcs.1440/abstract}, author = {Reza Seifabadi and Nathan Bongjoon Cho and Sam Sang-Eun Song and Junichi Tokuda and Nobuhiko Hata and Clare M Tempany and Gabor Fichtinger and Iulian Iordachita} } @conference {Pinter2012c, title = {Application of the SlicerRT toolkit for image-guided radiation therapy research}, booktitle = {Medical Image Computing and Computer-Assisted Intervention (MICCAI 2012) - Image-Guidance and Multimodal Dose Planning in Radiation Therapy}, year = {2012}, month = {10/2012}, address = {Nice, France}, author = {Csaba Pinter and Andras Lasso and An Wang and David Jaffray and Gabor Fichtinger} } @article {Fritz2012c, title = {Augmented Reality Visualization Using Image-Overlay for MR-guided Interventions: Performance Assessment of Paravertebral Sympathetic Perineural Injections in Cadavers at 1.5 Tesla}, year = {2012}, month = {06/2012}, pages = {S509-S511}, address = {Pisa, Italy, June 27-30}, author = {Jan Fritz and Paweena U-Thainual and Tamas Ungi and Aaron J Flammang and Gabor Fichtinger and Iulian Iordachita and John A Carrino} } @article {Fritz2012a, title = {Augmented Reality Visualization Using Image-Overlay for MR-Guided Interventions: Accuracy for Lumbar Spinal Procedures with a 1.5-Tesla MRI scanner.}, journal = {American Journal of Roentgenology}, volume = {198}, year = {2012}, month = {03/2012}, pages = {W266-73}, author = {Jan Fritz and Paweena U-Thainual and Tamas Ungi and Aaron J Flammang and Nathan Bongjoon Cho and Gabor Fichtinger and Iulian Iordachita and John A Carrino} } @article {Fritz2012b, title = {Augmented Reality Visualization with Use of Image Overlay Technology for MR Imaging{\textendash}guided Interventions: Assessment of Performance in Cadaveric Shoulder and Hip Arthrography at 1.5 T}, journal = {Radiology}, volume = {265}, number = {1}, year = {2012}, month = {10/2012}, pages = {254-259}, doi = {10.1148/radiol.12112640}, author = {Jan Fritz and Paweena U-Thainual and Tamas Ungi and Aaron J Flammang and Gabor Fichtinger and Iulian Iordachita and John A Carrino} } @article {MPeikari2012, title = {Characterization of ultrasound elevation beamwidth artifacts for prostate brachytherapy needle insertion}, journal = {Medical Physics}, volume = {39}, year = {2012}, month = {01/2012}, pages = {246-256}, abstract = {

Purpose: Ultrasound elevation beamwidth leads to image artefacts and uncertainties in localizing objects (such as a surgical needle) in ultrasound images. We examined the clinical significance of errors caused by elevation beamwidth artefacts and imaging parameters in needle insertion procedures. Method: Beveled prostate brachytherapy needles were inserted through all holes of a grid template under real-time transrectal ultrasound (TRUS) guidance. The needle tip position as indicated by the TRUS image was compared to their observed physical location. A new device was developed to measure the ultrasound elevation beamwidth. Result: Imaging parameters of the TRUS scanner have direct impact on the localization error ranging from 0.5 mm upto 4 mm. The smallest localization error was observed laterally close to the center of the grid template, and axially within the beam{\textquoteright}s focal zone. Largest localization error occurs laterally around both sides of the grid template, and axially within the beam{\textquoteright}s far field. we also found that the localization errors vary with both lateral and elevation offsets. Conclusion: We found properly adjusting the TRUS imaging settings to lower the ultrasound gain and power effectively minimized the appearance of elevation beamwidth artefacts and in turn reduced the localization errors of the needle tip.

}, keywords = {Brachytherapy, localization error, main lobe, side lobe, ultrasound imaging}, issn = {0094-2405}, doi = {10.1118/1.3669488}, url = {http://online.medphys.org/resource/1/mphya6/v39/i1/p246_s1}, author = {Mohammad Peikari and Thomas K. Chen and Andras Lasso and Tamas Heffter and E. Clif Burdette and Gabor Fichtinger} } @conference {Siefabadi2012b, title = {Design of a Teleoperated Needle Steering System for MRI-guided Prostate Interventions}, booktitle = {IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob 2012)}, year = {2012}, publisher = {IEEE}, organization = {IEEE}, address = {Rome, Italy}, abstract = {

Accurate needle placement plays a key role in success of prostate biopsy and brachytherapy. During percutaneous interventions, the prostate gland rotates and deforms which may cause significant target displacement. In these cases straight needle trajectory is not sufficient for precise targeting. Although needle spinning and fast insertion may be helpful, they do not entirely resolve the issue. We propose robot-assisted bevel-tip needle steering under MRI guidance as a potential solution to compensate for the target displacement. MRI is chosen for its superior soft tissue contrast in prostate imaging. Due to the confined workspace of the MRI scanner and the requirement for the clinician to be present inside the MRI room during the procedure, we designed a MRI-compatible 2-DOF haptic device to command the needle steering slave robot which operates inside the scanner. The needle steering slave robot was designed to be integrated with a previously developed pneumatically actuated transperineal robot for MRI-guided prostate needle placement. We describe design challenges and present the conceptual design of the master and slave robots and the associated controller.

}, keywords = {MRI-compatible, Needle Steering, Real-time MRI, Teleoperation}, author = {Reza Seifabadi and Iulian Iordachita and Gabor Fichtinger} } @conference {Lasso2012d, title = {Implementation of the PLUS open-source toolkit for translational research of ultrasound-guided intervention systems}, booktitle = {Medical Image Computing and Computer-Assisted Intervention (MICCAI 2012) - Systems and Architectures for Computer Assisted Interventions}, year = {2012}, month = {10/2012}, pages = {1-12}, publisher = {The MIDAS Journal}, organization = {The MIDAS Journal}, address = {Nice, France}, url = {http://hdl.handle.net/10380/3367}, author = {Andras Lasso and Tamas Heffter and Csaba Pinter and Tamas Ungi and Gabor Fichtinger} } @conference {Moult2012a, title = {Implicit active contours for automatic brachytherapy seed segmentation in fluoroscopy}, booktitle = {SPIE Medical Imaging 2012}, year = {2012}, month = {02/2012}, pages = {831611}, address = {San Diego, California, USA}, keywords = {Active contours, Intra-operative dosimetry, Prostate brachytherapy, Seed declustering, segmentation}, doi = {http://dx.doi.org/10.1117/12.911153}, author = {Eric Moult and E. Clif Burdette and Danny Y Song and Gabor Fichtinger and Pascal Fallavollita} } @article {Gendrin2012, title = {Monitoring tumor motion by real time 2D/3D registration during radiotherapy}, journal = {Radiotherapy and Oncology}, volume = {102}, year = {2012}, month = {2/2012}, pages = {274 - 280}, issn = {01678140}, doi = {10.1016/j.radonc.2011.07.031}, author = {Gendrin, Christelle and Furtado, Hugo and Weber, Christoph and Bloch, Christoph and Figl, Michael and Pawiro, Supriyanto Ardjo and Bergmann, Helmar and Stock, Markus and Gabor Fichtinger and Georg, Dietmar and Birkfellner, Wolfgang} } @article {U-Thainual2012a, title = {MR Image Overlay Guidance: System Evaluation for Clinical Use}, year = {2012}, month = {06/2012}, pages = {S179-S180}, address = {Pisa, Italy, June 27-30}, keywords = {augmented reality, image overlay, needle guidance, percutaneous interventions}, author = {Paweena U-Thainual and Jan Fritz and Choladawan Moonjaita and Tamas Ungi and Aaron J Flammang and John A Carrino and Gabor Fichtinger and Iulian Iordachita} } @article {Lasso2012e, title = {Multi-slice-to-volume registration for reducing targeting error during MRI-guided transrectal prostate biopsy}, year = {2012}, month = {09/2012}, address = {Boston, MA, USA}, author = {Andras Lasso and Andriy Fedorov and Janice Fairhurst and Junichi Tokuda and Kemal Tuncali and Robert Mulkern and Nobuhiko Hata and Clare M Tempany and Gabor Fichtinger} } @conference {Sadjadi2012, title = {Needle Deflection Estimation using Fusion of Electromagnetic Trackers}, booktitle = {34th Annual International Conference of the IEEE EMBS (EMBC 2012)}, year = {2012}, month = {08/28/2012}, pages = {952-955}, address = {San Diego, California USA}, abstract = {

We present a needle deflection estimation method to compensate for needle bending during insertion into deformable tissue. We combine a kinematic needle deflection estimation model, electromagnetic (EM) trackers, and a Kalman filter (KF). We reduce the impact of error from the needle deflection estimation model by using the fusion of two EM trackers to report the approximate needle tip position in real-time. One reliable EM tracker is installed on the needle base, and estimates the needle tip position using the kinematic needle deflection model. A smaller but much less reliable EM tracker is installed on the needle tip, and estimates the needle tip position through direct noisy measurements. Using a KF, the sensory information from both EM trackers is fused to provide a reliable estimate of the needle tip position with much reduced variance in the estimation error. We then implement this method to compensate for needle deflection during simulated prostate cancer brachytherapy needle insertion. At a typical maximum insertion depth of 15 cm, needle tip mean estimation error was reduced from 2.39 mm to 0.31 mm, which demonstrates the effectiveness of our method, offering a clinically practical solution.

}, author = {Hossein Sadjadi and Keyvan Hashtrudi-Zaad and Gabor Fichtinger} } @conference {Ungi2012d, title = {Open-source training platform for ultrasound-guided needle insertions}, booktitle = {Medical Image Computing and Computer-Assisted Intervention (MICCAI 2012) - Systems and Architectures for Computer Assisted Interventions}, year = {2012}, month = {10/2012}, address = {Nice, France}, author = {Tamas Ungi and Andras Lasso and Gabor Fichtinger} } @article {Ungi2012c, title = {Perk Tutor: An open-source training platform for ultrasound-guided needle insertions}, journal = {IEEE Trans Biomed Eng}, volume = {59}, year = {2012}, month = {12/2012}, pages = {3475-3481}, issn = {0018-9294}, doi = {10.1109/TBME.2012.2219307}, url = {http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6304910}, author = {Tamas Ungi and Sargent, D. and Eric Moult and Andras Lasso and Csaba Pinter and McGraw, Robert C and Gabor Fichtinger} } @article {Lasso2012b, title = {Planning and Targeting System for MRI-guided Robotic Interventions}, year = {2012}, month = {02/2012}, address = {Toronto, ON, Canada}, author = {Andras Lasso and Junichi Tokuda and Andriy Fedorov and Siddharth Vikal and Hadi Tadayyon and Aradhana Kaushal and Peter Guion and Gabor Fichtinger} } @article {Lasso2012a, title = {PLUS: An open-source toolkit for ultrasound-guided intervention systems development}, year = {2012}, month = {02/2012}, address = {Toronto, ON, Canada}, author = {Andras Lasso and Tamas Heffter and Csaba Pinter and Tamas Ungi and Thomas K. Chen and Alexis Boucharin and Gabor Fichtinger} } @article {Tokuda2012, title = {Preclinical evaluation of an MRI-compatible pneumatic robot for angulated needle placement in transperineal prostate interventions}, journal = {International Journal of Computer Assisted Radiology and Surgery (IJCARS)}, year = {2012}, abstract = {

Purpose. To support transperineal prostate biopsies in a closed-bore magnetic resonance imaging (MRI) scanner, we developed a small profile MRI-compatible pneumatic needle placement robot that can angulate a needle insertion path into a large accessible target volume. We performed a preclinical evaluation of the robot{\textquoteright}s targeting accuracy with angulated needle insertion in a 3 Tesla clinical MRI. Methods. Angulation of the needle insertion path is achieved by a four degrees-of-freedom (4-DOF) mechanism with two parallel triangular structures. The robot is integrated with navigation software that allows an operator to plan angulated needle insertion by selecting a target and an entry point. The targeting error was evaluated while the angle between the needle insertion path and the static magnetic field was between -5.7{\textdegree} and 5.7{\textdegree} horizontally and between -5.7{\textdegree} and 4.3{\textdegree} vertically in the MRI scanner after sterilizing and draping the device. Results. The needle placement robot successfully positioned the needle with angulated insertion as specified on the navigation software. The overall targeting error was 0.8 {\textpm} 0.5 mm along the horizontal axis and 0.8 {\textpm} 0.8 mm along the vertical axis. The two-dimensional root-mean-square targeting error on the axial slices as containing the targets was 1.4 mm. Conclusions. Our preclinical evaluation demonstrated that the MRI-compatible pneumatic needle placement robot with the 4-DOF parallel kinematic structure with the capability to angulate the needle insertion path provides sufficient targeting accuracy for clinical MRI-guided prostate interventions.

}, keywords = {Biopsy, Brachytherapy, medical robotics, MRI-guided therapy, prostate cancer}, doi = {10.1007/s11548-012-0750-1}, url = {http://www.springerlink.com/content/tl77lrh211608j70/}, author = {Junichi Tokuda and Sam Sang-Eun Song and Gregory Fischer and Iulian Iordachita and Reza Seifabadi and Nathan Bongjoon Cho and Kemal Tuncali and Gabor Fichtinger and Clare M Tempany and Nobuhiko Hata} } @article {Tokuda2012a, title = {Preclinical evaluation of MRI-compatible pneumatic robot for angulated needle placement in prostate interventions}, year = {2012}, month = {2012}, address = {Pisa, Italy}, keywords = {angulation, MRI compatiber robot, transprineal}, author = {Junichi Tokuda and Sam Sang-Eun Song and Gregory Fischer and Iulian Iordachita and Reza Seifabadi and Nathan Bongjoon Cho and Gabor Fichtinger and Clare M Tempany and Nobuhiko Hata} } @article {Lasso2012c, title = {Real-time data acquisition for cardiovascular research}, year = {2012}, month = {06/2012}, address = {Toronto, ON, Canada}, author = {Andras Lasso and Gabor Fichtinger} } @article {Escobar2012a, title = {Real-time needle tip tracking using Fiber Brag Grating sensors for MRI-guided prostate interventions: Design considerations}, year = {2012}, address = {Boston, USA, September}, author = {Esteban Escobar Gomez and Reza Seifabadi and Gabor Fichtinger and Iulian Iordachita} } @article {Moradi2012, title = {Seed localization in ultrasound and registration to C-arm fluoroscopy using matched needle tracks for prostate brachytherapy.}, journal = {IEEE Transactions on Bio-Medical Engineering}, volume = {59}, year = {2012}, month = {2012 Jun 29}, pages = {2558 - 2567}, abstract = {

We propose a novel fiducial-free approach for the registration of C-arm fluoroscopy to 3D ultrasound images of prostate brachytherapy implants to enable dosimetry. The approach involves the reliable detection of a subset of radioactive seeds from 3D ultrasound, and the use of needle tracks in both ultrasound and fluoroscopy for registration. Seed detection in ultrasound is achieved through template matching in 3D radio frequency ultrasound signals, followed by thresholding and spatial filtering. The resulting subset of seeds is registered to the complete reconstruction of the brachytherapy implant from multiple C-arm fluoroscopy views. To compensate for the deformation caused by the ultrasound probe, simulated warping is applied to the seed cloud from fluoroscopy. The magnitude of the applied warping is optimized within the registration process. The registration is performed in two stages. First, the needle track projections from fluoroscopy and ultrasound are matched. Only the seeds in the matched needles are then used as fiducials for point-based registration. We report results from a physical phantom with a realistic implant (average postregistration seed distance of 1.6{\textpm}1.2 mm) and from five clinical patient datasets (average error: 2.8{\textpm}1.5 mm over 128 detected seeds). We conclude that it is feasible to use RF ultrasound data, template matching, and spatial filtering to detect a reliable subset of brachytherapy seeds from ultrasound to enable registration to fluoroscopy for dosimetry.

}, doi = {10.1109/TBME.2012.2206808}, author = {Mehdi Moradi and S. S. Mahdavi and Ehsan Dehghan and Julio R. Lobo and S. Deshmukh and William J. Morris and Gabor Fichtinger and Septimiu E. Salcudean} } @article {Moult2012b, title = {Segmentation of iodine brachytherapy implants in fluoroscopy}, journal = {International Journal of Computer Assisted Radiology and Surgery}, year = {2012}, keywords = {Active contours, Iodine implants, Prostate brachytherapy, Seed declustering, segmentation}, doi = {10.1007/s11548-012-0679-4}, url = {http://www.springerlink.com/content/kmn31823g053wj55/}, author = {Eric Moult and Gabor Fichtinger and William J. Morris and Septimiu E. Salcudean and Ehsan Dehghan and Pascal Fallavollita} } @article {Pinter2012b, title = {SlicerRT - Radiation therapy research toolkit for 3D Slicer}, volume = {39}, year = {2012}, month = {10/2012}, pages = {6332/7}, abstract = {

Purpose: Interest in adaptive radiation therapy research is constantly growing, but software tools available for researchers are mostly either expensive, closed proprietary applications or free open-source packages with limited scope, extensibility, reliability, or user support. To address these limitations, we propose SlicerRT, a customizable, free, open-source radiation therapy research toolkit. SlicerRT aspires to be an open-source toolkit for RT research, providing fast computations, convenient workflows for researchers, and a general image-guided therapy infrastructure to assist clinical translation of experimental therapeutic approaches. It is a medium into which RT researchers can integrate their methods and algorithms, and conduct comparative testing. Methods: SlicerRT was implemented as an extension for the widely used 3D Slicer medical image visualization and analysis application platform. SlicerRT provides functionality specifically designed for radiation therapy research, in addition to the powerful tools that 3D Slicer offers for visualization, registration, segmentation, and data management. The feature set of SlicerRT was defined through consensus discussions with a large pool of RT researchers, including both radiation oncologists and medical physicists. The development processes used were similar to those of 3D Slicer to ensure software quality. Standardized mechanisms of 3D Slicer were applied for documentation, distribution, and user support. The testing and validation environment was configured to automatically launch a regression test upon each software change and to perform comparison with ground truth results provided by other RT applications. Results: Modules have been created for importing and loading DICOM-RT data, computing and displaying dose volume histograms, creating accumulated dose volumes, comparing dose volumes, visualizing isodose lines and surfaces. The effectiveness of using 3D Slicer with the proposed SlicerRT extension for radiation therapy research was demonstrated on multiple use cases.

}, keywords = {3D Slicer, DICOM-RT, dose comparison, dose volume histogram, Radiation therapy}, doi = {http://dx.doi.org/10.1118/1.4754659}, author = {Csaba Pinter and Andras Lasso and An Wang and David Jaffray and Gabor Fichtinger} } @article {Pinter2012a, title = {SlicerRT {\textendash} Radiotherapy toolkit for 3D Slicer}, year = {2012}, month = {02/2012}, address = {Toronto, ON, Canada}, keywords = {Radiotherapy}, author = {Csaba Pinter and Andras Lasso and An Wang and Gabor Fichtinger} } @article {Ungi2012b, title = {Spinal Needle Navigation by Tracked Ultrasound Snapshots}, journal = {IEEE Trans Biomed Eng}, volume = {59}, year = {2012}, month = {10/2012}, pages = {2766-2772}, author = {Tamas Ungi and Purang Abolmaesumi and Rayhan Jalal and Mattea Welch and Irene Ayukawa and Simrin Nagpal and Andras Lasso and Melanie Jaeger and Daniel P. Borschneck and Gabor Fichtinger and Parvin Mousavi} } @conference {Holden2012a, title = {Surgical Motion Characterization in Simulated Needle-Insertion Procedures}, booktitle = {SPIE Medical Imaging 2012}, year = {2012}, month = {02/2012}, pages = {8316-31}, address = {San Diego, California, USA}, keywords = {Lumbar Puncture, Markov Models, Needle trajectories, Simulated procedures, Task segmentation}, doi = {http://dx.doi.org/10.1117/12.911003}, author = {M. Holden and Tamas Ungi and Sargent, D. and McGraw, Robert C and Gabor Fichtinger} } @article {Siefabadi2012c, title = {Towards teleoperated needle steering in MRI-guided prostate interventions}, year = {2012}, address = {Boston, USA, September}, author = {Reza Seifabadi and Iulian Iordachita and Gabor Fichtinger} } @article {Vaughan2012, title = {Ultrasound Volume Reconstruction: Open-Source Implementation with Hole Filling Functionality}, year = {2012}, month = {09/2012}, address = {Boston, MA}, author = {Thomas Vaughan and Andras Lasso and Gabor Fichtinger} } @article {Imani2012, title = {Ultrasound-guided Characterization of ablated Tissue Using RF Time Series}, year = {2012}, month = {06/2012}, address = {Rosslyn, VA, USA}, author = {F Imani and Mohammad Daoud and Andras Lasso and E. Clif Burdette and Gabor Fichtinger and Purang Abolmaesumi and Parvin Mousavi} } @article {Ungi2012a, title = {Ultrasound-guided spinal needle placement on open source platform}, year = {2012}, month = {02/2012}, address = {Toronto, ON, Canada}, author = {Tamas Ungi and Andras Lasso and Mattea Welch and Rayhan Jalal and Simrin Nagpal and Melanie Jaeger and Daniel P. Borschneck and Parvin Mousavi and Gabor Fichtinger} } @article {Dehghan2012a, title = {Ultrasound{\textendash}fluoroscopy registration for prostate brachytherapy dosimetry}, journal = {Medical Image Analysis}, volume = {16}, year = {2012}, month = {2012}, pages = {1347-1358}, keywords = {Fluoroscopy, Prostate brachytherapy, Registration, Ultrasound}, doi = {http://dx.doi.org/10.1016/j.media.2012.06.001}, url = {http://www.sciencedirect.com/science/article/pii/S1361841512000813}, author = {Ehsan Dehghan and Junghoon Lee and Pascal Fallavollita and Nathanael Kuo and Anton Degeut and Yi Le and E. Clif Burdette and Danny Y Song and Jerry L. Prince and Gabor Fichtinger} } @article {Lobo2012, title = {Use of Needle Track Detection to Quantify the Displacement of Stranded Seeds Following Prostate Brachytherapy}, journal = {IEEE Transactions on Medical Imaging}, volume = {31}, year = {2012}, month = {03/2012}, pages = {738 - 748}, issn = {1558-254X}, doi = {10.1109/TMI.2011.2178254}, author = {Julio R. Lobo and Mehdi Moradi and N. Chng and Ehsan Dehghan and William J. Morris and Gabor Fichtinger and Septimiu E. Salcudean} } @conference {Ungi2011b, title = {Augmented Reality Needle Guidance Improves Facet Joint Injection Training}, booktitle = {SPIE Medical Imaging}, volume = {7964}, number = {1}, year = {2011}, month = {03/2011}, pages = {79642E 1-7}, publisher = {SPIE}, organization = {SPIE}, address = {Lake Buena Vista, Florida, USA}, doi = {10.1117/12.877830}, url = {http://link.aip.org/link/?PSI/7964/79642E/1}, author = {Tamas Ungi and Yeo, Caitlin T and Paweena U-Thainual and McGraw, Robert C and Gabor Fichtinger} } @conference {Ungi2011a, title = {Augmented reality training to improve needle-based percutaneous interventions}, booktitle = {ImNO2011 - Imaging Network Ontario Symposium}, year = {2011}, month = {01/2011}, address = {Toronto, ON, Canada, Jan 31-Feb 1}, author = {Tamas Ungi and Paweena U-Thainual and Andras Lasso and Yeo, Caitlin T and McGraw, Robert C and Gabor Fichtinger} } @article {Weiss2009, title = {Augmented Reality Visualization for MR-guided Interventions using "Image Overlay": System Description, Feasibility, and Initial Evaluation in a spine phantom}, journal = {American Journal of Roentgenology}, volume = {196}, number = {3}, year = {2011}, month = {03/2011}, pages = {W305 - W307}, author = {Clifford Weiss and David R.Marker and Gregory Fischer and Gabor Fichtinger and Antonio J. Machado and John A Carrino} } @article {Fritz2011, title = {Augmented reality visualization using image-overlay for MR-guided interventions: assessment of accuracy for lumbar spinal procedures with a 1.5-Tesla MRI scanner}, year = {2011}, month = {09/2011}, address = {Munich, Germany}, author = {Jan Fritz and Paweena U-Thainual and Tamas Ungi and Aaron J Flammang and Nathan Bongjoon Cho and Gabor Fichtinger and Iulian Iordachita and John A Carrino} } @conference {Fritz2011a, title = {Augmented Reality Visualization Using Image-overlay for MR-guided Interventions: Assessment of Performance in Cadaveric Shoulder and Hip Arthrography}, booktitle = {RSNA 97th Scientific Assembly and Annual Meeting}, year = {2011}, month = {07/2012}, address = {Chicago, IL}, doi = {10.1148/radiol.12112640}, url = {http://radiology.rsna.org/content/early/2012/07/24/radiol.12112640.abstract}, author = {Jan Fritz and Paweena U-Thainual and Tamas Ungi and Aaron J Flammang and Nathan Bongjoon Cho and Gabor Fichtinger and Iulian Iordachita and John A Carrino} } @article {Chen2011, title = {Automated Intraoperative Calibration for Prostate Cancer Brachytherapy}, journal = {Medical Physics}, volume = {38}, year = {2011}, month = {11/2011}, pages = {6285-6299}, doi = {10.1118/1.3651690}, author = {Thomas K. Chen and Tamas Heffter and Andras Lasso and Csaba Pinter and Purang Abolmaesumi and E. Clif Burdette and Gabor Fichtinger} } @conference {Moult2011a, title = {Automatic C-arm Pose Estimation via 2D/3D Hybrid Registration of a Radiographic Fiducial}, booktitle = {SPIE Medical Imaging}, volume = {7964}, number = {1}, year = {2011}, month = {03/2011}, pages = {79642S}, publisher = {SPIE}, organization = {SPIE}, address = {Lake Buena Vista (Orlando), Florida, USA}, doi = {10.1117/12.877713}, url = {http://link.aip.org/link/?PSI/7964/79642S/1}, author = {Eric Moult and E. Clif Burdette and Danny Y Song and Purang Abolmaesumi and Gabor Fichtinger and Pascal Fallavollita}, editor = {Kenneth H. Wong and David R. Holmes III} } @conference {Bartha2011a, title = {Automatic fiducial localization in ultrasound images for a thermal ablation validation platform}, booktitle = {SPIE Medical Imaging}, volume = {7964}, number = {1}, year = {2011}, month = {03/2011}, pages = {796421}, publisher = {SPIE}, organization = {SPIE}, address = {Lake Buena Vista (Orlando), Florida, USA}, doi = {10.1117/12.878568}, url = {http://link.aip.org/link/?PSI/7964/796421/1}, author = {Laura Bartha and Andras Lasso and Thomas K. Chen and Gabor Fichtinger} } @article {Dehghan2011a, title = {Brachytherapy Seed Reconstruction with Joint-Encoded C-Arm Single-Axis Rotation and Motion Compensation}, journal = {Medical Image Analysis}, volume = {15}, year = {2011}, month = {10/2011}, pages = {760 {\textendash} 771}, keywords = {Brachytherapy, C-arm Motion compensation, prostate cancer, Seed reconstruction}, doi = {10.1016/j.media.2011.05.017}, author = {Ehsan Dehghan and Ameet K. Jain and Mehdi Moradi and Xu Wen and William J. Morris and Septimiu E. Salcudean and Gabor Fichtinger} } @article {Krieger2011b, title = {Development and Evaluation of an Actuated MRI-Compatible Robotic System for MRI-Guided Prostate Intervention}, journal = {IEEE/ASME Transactions on Mechatronics}, year = {2011}, month = {2011}, pages = {PP}, issn = {1941-014X}, doi = {10.1109/TMECH.2011.2163523}, author = {Axel Krieger and Sam Sang-Eun Song and Nathan Bongjoon Cho and Iulian Iordachita and Peter Guion and Gabor Fichtinger and Whitcomb, Louis L.} } @article {Yeo2011, title = {The Effect of Augmented Reality Training on Percutaneous Needle Placement in Spinal Facet Joint Injections}, journal = {IEEE Transactions on Biomedical Engineering}, volume = {58}, year = {2011}, month = {07/2011}, pages = {2031-7}, keywords = {augmented reality, surgical training}, issn = {0018-9294}, doi = {10.1109/TBME.2011.2132131}, url = {http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=5739103\&tag=1}, author = {Yeo, Caitlin T and Tamas Ungi and Paweena U-Thainual and Andras Lasso and McGraw, Robert C and Gabor Fichtinger} } @conference {MPeikari2011, title = {Effects of Ultrasound Section-Thickness on Brachytherapy Needle Tip Localization Error}, booktitle = {Medical Image Computing and Computer-Assisted Intervention (MICCAI 2011)}, year = {2011}, address = {Toronto, ON, Canada}, author = {Mohammad Peikari and Thomas K. Chen and Andras Lasso and Tamas Heffter and Gabor Fichtinger} } @conference {Khallaghi2011, title = {GPU accelerated registration of a statistical shape model of the lumbar spine to 3D ultrasound images}, booktitle = {SPIE Medical Imaging}, volume = {7964}, number = {1}, year = {2011}, month = {03/2011}, pages = {79642W}, publisher = {SPIE}, organization = {SPIE}, address = {Lake Buena Vista, Florida, USA}, doi = {10.1117/12.878377}, url = {http://link.aip.org/link/?PSI/7964/79642W/1}, author = {Siavash Khallaghi and Purang Abolmaesumi and Ren Hui Gong and Elvis C. S. Chen and Sean Gill and Jonathan Boisvert and David R Pichora and Daniel P. Borschneck and Gabor Fichtinger and Parvin Mousavi} } @article {Pompeu-Robinson2011, title = {Immobilization and Catheter Guidance for Breast Brachytherapy}, journal = {International Journal of Computer Assisted Radiology and Surgery}, volume = {Online First}, year = {2011}, month = {05/2011}, abstract = {

Purpose: Brachytherapy is an important mode of breast cancer treatment; however, improvements in both treatment planning and delivery are needed. In order to meet these specific needs, integration of pre-operative imaging, supplemented by computerized surgical planning and mathematical optimization were used to develop and test an intra-operative immobilization and catheter guidance system. Method: A custom template specific to each patient with optimally placed guide holes for catheter insertion was designed and fabricated. Creation of the template is based on a virtual reality reconstruction of the patient{\textquoteright}s anatomy from computed tomography imaging. The template fits on the patient{\textquoteright}s breast, immobilizing the soft tissue, and provides pre-planned catheter insertion holes for guidance to the tumor site. Agar-based phantom and target models were used for quantitative validation of the template by ascertaining the precision and accuracy of the templates. Results: Tests were performed on agar-based tissue models using computed tomography imaging for template planning and validation. Planned catheter tracks were compared to post-insertion image data and distance measurements from target location were used to create an error measure. Initial results yielded an average error of 4.5 mm. Once the workflow and template design were improved, an average error of 2.6 mm was observed, bringing the error close to a clinically acceptable range. Conclusion: Use of a patient-specific template for breast brachytherapy is feasible and may improve the procedure accuracy and outcome.

}, keywords = {Brachytherapy, Breast cancer, Guidance, Immobilization, Radiotherapy}, doi = {DOI 10.1007/s11548-011-0600-6}, author = {Alexandra M. Pompeu-Robinson and M. Kunz and Conrad Falkson and John Schreiner and C.P. Joshi and Gabor Fichtinger} } @conference {HPeikari2011a, title = {Improved validation platform for ultrasound-based monitoring of thermal ablation}, booktitle = {SPIE Medical Imaging}, volume = {7964}, number = {1}, year = {2011}, pages = {79641H}, publisher = {SPIE}, organization = {SPIE}, address = {Lake Buena Vista (Orlando), Florida, USA}, doi = {10.1117/12.878333}, url = {http://link.aip.org/link/?PSI/7964/79641H/1}, author = {Hamed Peikari and Andras Lasso and Gabor Fichtinger} } @conference {Imani2011, title = {Monitoring of Tissue Ablation Using Time Series of Ultrasound RF data}, booktitle = {Medical Image Computing and Computer-Assisted Intervention (MICCAI 2011)}, year = {2011}, month = {09/2011}, pages = {379-386}, address = {Toronto, ON, Canada}, author = {F Imani and Wu, M. and Andras Lasso and E. Clif Burdette and Mohammad Daoud and Gabor Fichtinger and Purang Abolmaesumi and Parvin Mousavi} } @article {U-Thainual2011, title = {MR Image Overlay Adjustable Plane System for Percutaneous Musculoskeletal Interventions}, volume = {4}, year = {2011}, month = {10/2011}, address = {Arlington VA, October 12-13, 2011}, author = {Paweena U-Thainual and Tamas Ungi and John A Carrino and Gabor Fichtinger and Iulian Iordachita} } @article {Krieger2011, title = {An MRI-Compatible Robotic System with Hybrid Tracking for MRI-Guided Prostate Intervention}, journal = {IEEE Transactions on Biomedical Engineering}, volume = {58 PP}, year = {2011}, month = {04/2011}, doi = {10.1109/TBME.2011.2134096}, author = {Axel Krieger and Iulian Iordachita and Peter Guion and Anurag K. Singh and Aradhana Kaushal and Cynthia Menard and P.A. Pinto and Kevin Camphausen and Gabor Fichtinger and Whitcomb, Louis L.} } @article {Lasso2011b, title = {Multi-slice-to-volume registration for reducing targeting error during MRI-guided transrectal biopsy}, volume = {4}, year = {2011}, month = {10/2011}, pages = {31}, address = {Arlington VA, October 12-13, 2011}, author = {Andras Lasso and Hadi Tadayyon and Aradhana Kaushal and Peter Guion and Gabor Fichtinger} } @article {Song2011b, title = {Needle Artifact Localization for Intraprocedural Biopsy Position Confirmation in 3T MRI-guided Robotic Transrectal Prostate Intervention}, volume = {4}, year = {2011}, month = {10/2011}, address = {Arlington VA, October 12-13, 2011}, author = {Sam Sang-Eun Song and Nathan Bongjoon Cho and Iulian Iordachita and Peter Guion and Gabor Fichtinger and Whitcomb, Louis L.} } @article {Ungi2011c, title = {Perk Station image overlay improves training of facet joint injections}, volume = {4}, year = {2011}, month = {10/2011}, pages = {118}, address = {Arlington VA, October 12-13, 2011}, author = {Tamas Ungi and Paweena U-Thainual and Yeo, Caitlin T and Andras Lasso and McGraw, Robert C and Gabor Fichtinger} } @conference {Ghanavati2011, title = {Phantom validation for ultrasound to statistical shape model registration of human pelvis}, booktitle = {SPIE Medical Imaging}, volume = {7964}, number = {1}, year = {2011}, month = {03/2011}, pages = {79642U}, publisher = {SPIE}, organization = {SPIE}, address = {Lake Buena Vista, Florida, USA}, doi = {10.1117/12.876998}, url = {http://link.aip.org/link/?PSI/7964/79642U/1}, author = {Sugantha Ganapathy and Parvin Mousavi and Gabor Fichtinger and Purang Abolmaesumi} } @article {Lasso2011c, title = {PLUS: An open-source toolkit for developing ultrasound-guided intervention systems}, volume = {4}, year = {2011}, month = {10/2011}, pages = {103}, address = {Arlington VA, October 12-13, 2011}, author = {Andras Lasso and Tamas Heffter and Csaba Pinter and Tamas Ungi and Thomas K. Chen and Alexis Boucharin and Gabor Fichtinger} } @conference {Dehghan2011b, title = {Point-to-Volume Registration of Prostate Implants to Ultrasound}, booktitle = {Medical Image Computing and Computer-Assisted Intervention (MICCAI 2011)}, year = {2011}, month = {09/2011}, pages = {615 - 622}, address = {Toronto, ON, Canada}, author = {Ehsan Dehghan and Junghoon Lee and Pascal Fallavollita and Nathanael Kuo and Anton Degeut and E. Clif Burdette and Danny Y Song and Jerry L. Prince and Gabor Fichtinger} } @article {Dehghan2011c, title = {Prostate implant reconstruction from C-arm images with motion-compensated tomosynthesis}, journal = {Medical Physics}, volume = {38}, number = {10}, year = {2011}, month = {10/2011}, pages = {5290 {\textendash} 5302}, keywords = {Brachytherapy, C-arm, motion compensation, Seed reconstruction, tomosynthesis}, author = {Ehsan Dehghan and Mehdi Moradi and Xu Wen and Danny French and Julio R. Lobo and William J. Morris and Septimiu E. Salcudean and Gabor Fichtinger} } @conference {Lobo2011a, title = {Quantifying stranded implant displacement following prostate brachytherapy}, booktitle = {Medical Image Computing and Computer-Assisted Intervention (MICCAI 2011)}, volume = {6891}, year = {2011}, month = {09/2011}, pages = {307-314}, address = {Toronto, ON, Canada}, author = {Julio R. Lobo and Mehdi Moradi and N. Chng and Ehsan Dehghan and William J. Morris and Gabor Fichtinger and Septimiu E. Salcudean} } @article {Blevins2011, title = {RadVision: An Image-Guided Brachytherapy Planning/Implant Tool with Extensible Image Acquisition/Processing}, volume = {4}, year = {2011}, month = {10/2011}, address = {Arlington VA, October 12-13, 2011}, author = {Jack Blevins and Junichi Tokuda and Robert Cormack and Junghoon Lee and Nathanael Kuo and Jerry L. Prince and Gabor Fichtinger and Clare M Tempany and E. Clif Burdette} } @article {Lee2011, title = {REDMAPS: Reduced-Dimensionality Matching for Prostate Brachytherapy Seed Reconstruction}, journal = {IEEE Transactions on Medical Imaging}, volume = {30}, year = {2011}, month = {01/2011}, pages = {38-51}, doi = {10.1109/TMI.2010.2059709}, author = {Junghoon Lee and Christian Labat and Ameet K. Jain and Danny Y Song and E. Clif Burdette and Gabor Fichtinger and Jerry L. Prince} } @article {Song2011, title = {Robotic needle guide for prostate brachytherapy: Clinical testing of feasibility and performance}, journal = {Brachytherapy}, volume = {10}, year = {2011}, month = {1/2011}, pages = {57 - 63}, issn = {15384721}, doi = {10.1016/j.brachy.2010.01.003}, author = {Danny Y Song and E. Clif Burdette and Jonathan Fiene and Elwood Armour and Gernot Kronreif and Anton Degeut and Zhe Zhang and Iulian Iordachita and Gabor Fichtinger and Peter Kazanzides} } @article {Seifabadi2011, title = {Robotic System for MRI-guided Prostate Biopsy: Feasibility of Teleoperated Needle Insertion and ex vivo Phantom Study}, journal = {International Journal of Computer Aided Radiology and Surgery (IJCARS)}, year = {2011}, abstract = {

"Purpose": Magnetic Resonance Imaging (MRI) combined with robotic assistance has the potential to improve on clinical outcomes of biopsy and local treatment of prostate cancer. "Methods": We report the workspace optimization and phantom evaluation of a five Degree of Freedom (DOF) parallel pneumatically actuated modular robot for MRI-guided prostate biopsy. To shorten procedure time and consequently increase patient comfort and system accuracy, a prototype of a MRI-compatible master-slave needle driver module using piezo motors was also added to the base robot. "Results": Variable size workspace was achieved using appropriate link length, compared to the previous design. The 5-DOF targeting accuracy demonstrated an average error of 2.5 mm (STD=1.37 mm) in a realistic phantom inside a 3T magnet with a bevel-tip 18G needle. The average position tracking error of the master-slave needle driver was always below 0.1 mm. "Conclusion": Phantom experiments showed sufficient accuracy for manual prostate biopsy. Also, the implementation of teleoperated needle insertion was feasible and accurate. These two together suggest feasibility of accurate fully actuated needle placement into prostate while keeping the clinician supervision over the task.

}, keywords = {accuracy evaluation, MRI -compatible, phantom study, Pneumatic Robot, Teleoperation, Transperineal prostate biopsy}, doi = {10.1007/s11548-011-0598-9}, url = {http://www.springerlink.com/content/h53329764x605415/fulltext.pdf}, author = {Reza Seifabadi and Sam Sang-Eun Song and Axel Krieger and Nathan Bongjoon Cho and Junichi Tokuda and Gabor Fichtinger and Iulian Iordachita} } @article {Song2011c, title = {Robotic System for MRI-guided Prostate Intervention: Feasibility Study of Tele-operated Needle Insertion}, year = {2011}, publisher = {Springer}, address = {Berlin, Germany}, keywords = {MRI-compatible, Pneumatic Robot, Prostate Intervention, Teleoperation}, url = {http://www.cars-int.org/}, author = {Sam Sang-Eun Song and Reza Seifabadi and Axel Krieger and Junichi Tokuda and Gabor Fichtinger and Iulian Iordachita} } @conference {MPeikari2011, title = {Section-Thickness Profiling for Brachytherapy Ultrasound Guidance}, booktitle = {SPIE Medical Imaging}, volume = {7964}, number = {1}, year = {2011}, month = {03/2011}, pages = {79640R}, publisher = {SPIE}, organization = {SPIE}, address = {Lake Buena Vista (Orlando), Florida, USA}, isbn = {9780819485069}, doi = {10.1117/12.877993}, url = {http://link.aip.org/link/?PSI/7964/79640R/1}, author = {Mohammad Peikari and Thomas K. Chen and Gabor Fichtinger and E. Clif Burdette} } @article {Song2011d, title = {A study of needle image artifact localization in confirmation imaging of MRI-guided robotic prostate biopsy}, year = {2011}, pages = {4834 - 4839}, publisher = {IEEE}, address = {Shanghai, China}, isbn = {978-1-61284-386-5}, doi = {10.1109/ICRA.2011.5980309}, author = {Sam Sang-Eun Song and Nathan Bongjoon Cho and Iulian Iordachita and Peter Guion and Gabor Fichtinger and Whitcomb, Louis L.} } @article {Lasso2011a, title = {System design of adaptive image-guided percutaneous needle intervention software using open source components}, year = {2011}, pages = {45}, address = {Toronto, ON, Canada, Jan 31-Feb 1}, author = {Andras Lasso and Gabor Fichtinger} } @article {Tadayyon2011, title = {Target Motion Tracking in MRI-guided Transrectal Robotic Prostate Biopsy}, journal = {IEEE Transactions on Biomedical Engineering}, volume = {58}, year = {2011}, month = {08/2011}, pages = {3135-42}, issn = {0018-9294}, doi = {10.1109/TBME.2011.2163633}, author = {Hadi Tadayyon and Andras Lasso and Aradhana Kaushal and Peter Guion and Gabor Fichtinger} } @conference {Moradi2011a, title = {Towards intra-operative prostate brachytherapy dosimetry based on partial seed localization in ultrasound and registration to C-arm fluoroscopy}, booktitle = {Medical Image Computing and Computer-Assisted Intervention (MICCAI 2011)}, volume = {6891}, year = {2011}, month = {09/2011}, pages = {291-298}, address = {Toronto, ON, Canada}, author = {Mehdi Moradi and S. S. Mahdavi and S. Deshmukh and Julio R. Lobo and Ehsan Dehghan and Gabor Fichtinger and William J. Morris and Septimiu E. Salcudean} } @article {Fallavollita2010e, title = {2D/3D Registration of Ultrasound and Fluoroscopy: is image preprocessing useful?}, year = {2010}, month = {09/2010}, address = {Trondheim, Norway, September 2-4, 2010}, author = {Pascal Fallavollita and Zahra Karim-Aghaloo and E. Clif Burdette and Danny Y Song and Purang Abolmaesumi and Gabor Fichtinger} } @conference {Xu2010, title = {Accuracy validation for MRI-guided robotic prostate biopsy}, booktitle = {Medical Imaging 2010: Visualization, Image-Guided Procedures, and Modeling}, year = {2010}, pages = {762517 - 762517-8}, publisher = {SPIE}, organization = {SPIE}, address = {San Diego, California, USA}, doi = {10.1117/12.844251}, author = {Xu, Helen and Andras Lasso and Siddharth Vikal and Peter Guion and Axel Krieger and Aradhana Kaushal and Whitcomb, Louis L. and Gabor Fichtinger} } @conference {Fallavollita2010d, title = {C-arm Pose Estimation in Prostate Brachytherapy by Registration to Ultrasound}, booktitle = {Medical Image Computing and Computer-Assisted Intervention (MICCAI) 2010}, year = {2010}, author = {Pascal Fallavollita and E. Clif Burdette and Danny Y Song and Purang Abolmaesumi and Gabor Fichtinger} } @article {Grzeda2010a, title = {C-arm rotation encoding with accelerometers}, journal = {International Journal of Computer Assisted Radiation and Surgery}, volume = {5}, year = {2010}, month = {07/2010}, pages = {385-391}, keywords = {Accelerometer, C-arm, Encoding}, doi = {10.1007/s11548-010-0415-x}, url = {http://link.springer.com/article/10.1007/s11548-010-0415-x}, author = {Victor Grzeda and Gabor Fichtinger} } @conference {Fallavollita2010a, title = {C-arm tracking by intensity-based registration of a fiducial in prostate brachytherapy}, booktitle = {1st International Conference on Information Processing in Computer-Assisted Interventions}, year = {2010}, month = {2010}, pages = {45-55}, publisher = {Lecture Notes in Computer Science}, organization = {Lecture Notes in Computer Science}, address = {Geneva}, author = {Pascal Fallavollita and E. Clif Burdette and Danny Y Song and Purang Abolmaesumi and Gabor Fichtinger} } @conference {Xu2010b, title = {Clinical Accuracy of Robot-Assisted Prostate Biopsy in Closed MRI Scanner}, booktitle = {The Hamlyn Symposium on Medical Robotics}, year = {2010}, address = {The Royal Society, London, UK, 25 May 2010}, url = {http://www.hamlyn-robotics.org/}, author = {Xu, Helen and Andras Lasso and Siddharth Vikal and Peter Guion and Axel Krieger and Aradhana Kaushal and Whitcomb, Louis L. and Gabor Fichtinger} } @article {Hall2010a, title = {Compilation of a pathological validation database for ultrasound monitoring of tumour ablation}, year = {2010}, month = {09/2010}, address = {Trondheim, Norway, September 2-4, 2010}, author = {Jena Hall and Andras Lasso and Hamed Peikari and Alexandra M. Pompeu-Robinson and Gabor Fichtinger} } @article {Gao2010, title = {A Coupled Global Registration and Segmentation Framework With Application to Magnetic Resonance Prostate Imagery}, journal = {IEEE Transactions on Medical Imaging}, volume = {29}, year = {2010}, month = {10/2010}, pages = {1781 - 1794}, issn = {1558-254X}, doi = {10.1109/TMI.2010.2052065}, author = {Gao, Yi and Sandhu, Romeil and Gabor Fichtinger and Tannenbaum, Allen Robert} } @conference {Avni2010, title = {Design of a predictive targeting error simulator for MRI-guided prostate biopsy}, booktitle = {Medical Imaging 2010: Visualization, Image-Guided Procedures, and Modeling}, year = {2010}, month = {2010}, pages = {76251A-1 - 76251A-8}, publisher = {SPIE}, organization = {SPIE}, address = {San Diego, California, USA}, abstract = {

Multi-parametric MRI is a new imaging modality superior in quality to Ultrasound (US) which is currently used in standard prostate biopsy procedures. Surface-based registration of the pre-operative and intra-operative prostate volumes is a simple alternative to side-step the challenges involved with deformable registration. However, segmentation errors inevitably introduced during prostate contouring spoil the registration and biopsy targeting accuracies. For the crucial purpose of validating this procedure, we introduce a fully interactive and customizable simulator which determines the resulting targeting errors of simulated registrations between prostate volumes given user-provided parameters for organ deformation, segmentation, and targeting. We present the workflow executed by the simulator in detail and discuss the parameters involved. We also present a segmentation error introduction algorithm, based on polar curves and natural cubic spline interpolation, which introduces statistically realistic contouring errors. One simulation, including all I/O and preparation for rendering, takes approximately 1 minute and 40 seconds to complete on a system with 3 GB of RAM and four Intel Core 2 Quad CPUs each with a speed of 2.40 GHz. Preliminary results of our simulation suggest the maximum tolerable segmentation error given the presence of a 5.0 mm wide small tumor is between 4-5 mm. We intend to validate these results via clinical trials as part of our ongoing work.

}, keywords = {Biopsy, cancer, error, modeling, MRI, Prostate, segmentation, validation}, isbn = {0277-786X}, doi = {http://dx.doi.org/10.1117/12.844476}, author = {Shachar Avni and Siddharth Vikal and Gabor Fichtinger} } @conference {Song2010, title = {Development of a Pneumatic Robot for MRI-guided Transperineal Prostate Biopsy and Brachytherapy: New Approaches}, booktitle = {IEEE International Conference on Robotics and Automation, ICRA 2010}, year = {2010}, pages = {2580-2585}, address = {Anchorage, Alaska, USA, 3-7 May 2010}, doi = {http://dx.doi.org/10.1109/ROBOT.2010.5509710}, author = {Sam Sang-Eun Song and Nathan Bongjoon Cho and Gregory Fischer and Nobuhiko Hata and Clare M Tempany and Gabor Fichtinger and Iulian Iordachita} } @article {Song2010b, title = {Development of a Pneumatic Robot for MRI-Guided Transperineal Prostate Intervention}, year = {2010}, address = {Stockholm, Sweden, 1-7 May 2010}, author = {Sam Sang-Eun Song and Nathan Bongjoon Cho and Iulian Iordachita and Gregory Fischer and Junichi Tokuda and Nobuhiko Hata and Gabor Fichtinger and Clare M Tempany} } @article {Wu2010, title = {Effects of TRUS and Fluoroscopy Registration Error on Dosimetric Quality in Prostate Brachtherapy}, year = {2010}, address = {Trondheim, Norway, September 2-4, 2010}, author = {Mark Wu and Gabor Fichtinger} } @article {U-Thainual2010, title = {Evaluation of accuracy and clinical feasibility of the MR-compatible image overlay}, year = {2010}, address = {Leipzig, Germany, September 24-25, 2010}, keywords = {augmented reality, Image overlay system, MRI-guided}, author = {Paweena U-Thainual and Jan Fritz and Nathan Bongjoon Cho and Tamas Ungi and Segundo, AJM and John A Carrino and Gabor Fichtinger and Lewin, JS and Iulian Iordachita} } @conference {Lasso2010a, title = {Gynecology brachytherapy applicator pose reconstruction in MR images}, booktitle = {CARS 2010 - Proceedings of the 24th International Congress and Exhibition, Geneva. Switzerland, June 23-26, 2010}, series = {International Journal of Computer Assisted Radiology and Surgery}, volume = {5}, year = {2010}, month = {06/2010}, pages = {S324-S325}, publisher = {Springer}, organization = {Springer}, address = {Geneva, Switzerland}, doi = {10.1007/s11548-010-0471-2}, url = {http://www.springerlink.com/content/v7633809m2877373/?p=3a8265d1f57d493d9ef4ad82a8d9b18e\&pi=43}, author = {Andras Lasso and Marton Kelemen and Tamas Haidegger and Christian Kirisits and Gabor Fichtinger} } @conference {Fallavollita2010b, title = {Localization of brachytherapy seeds in ultrasound by registration to fluoroscopy}, booktitle = {SPIE Medical imaging}, volume = {7625}, year = {2010}, month = {23 February 2010}, pages = {762519-1 - 762519-8}, address = {San Diego}, doi = {10.1117/12.844015}, author = {Pascal Fallavollita and Zahra Karim-Aghaloo and E. Clif Burdette and Danny Y Song and Purang Abolmaesumi and Gabor Fichtinger} } @article {Song2010c, title = {MRI compatibility study of a pneumatically actuated robotic system for transperineal prostate needle placement}, year = {2010}, address = {Arlington, VA, March 8-9, 2010}, author = {Sam Sang-Eun Song and Nathan Bongjoon Cho and Junichi Tokuda and Nobuhiko Hata and Clare M Tempany and Gabor Fichtinger and Iulian Iordachita} } @article {Song2010, title = {MRI compatibility study of a pneumatically actuated robotic system for transperineal prostate needle placement}, volume = {Int J CARS Vol 5 (Suppl 1)}, year = {2010}, pages = {26-27}, address = {Geneva. Switzerland, June 23-26, 2010}, author = {Sam Sang-Eun Song and Nathan Bongjoon Cho and Junichi Tokuda and Nobuhiko Hata and Clare M Tempany and Gabor Fichtinger and Iulian Iordachita} } @conference {Tadayyon2010a, title = {MRI-Guided prostate motion tracking by means of multislice-to-volume registration}, booktitle = {SPIE Medical Imaging}, year = {2010}, month = {02/2010}, keywords = {Biopsy, motion tracking, MRI, slice-to-volume registation}, doi = {10.1117/12.844454}, author = {Hadi Tadayyon and Gabor Fichtinger and Andras Lasso and Siddharth Vikal and Sean Gill} } @conference {Xu2010c, title = {MRI-Guided Robotic Prostate Biopsy: A Clinical Accuracy Validation}, booktitle = {Medical Image Computing and Computer-Assisted Intervention (MICCAI 2010)}, year = {2010}, pages = {383-391}, publisher = {Springer}, organization = {Springer}, address = {Beijing, China}, isbn = {978-3-642-15710-3}, doi = {http://dx.doi.org/10.1007/978-3-642-15711-0_48}, author = {Xu, Helen and Andras Lasso and Siddharth Vikal and Peter Guion and Axel Krieger and Aradhana Kaushal and Whitcomb, Louis L. and Gabor Fichtinger} } @conference {Xu2010d, title = {MRI-Guided Transrectal Robotic Prostate Biopsy Validation}, booktitle = {The American Association of Physicists in Medicine (AAPM) Annual Meeting 2010, July 18-22}, volume = {37, 3128 (2010)}, year = {2010}, pages = {3128-3129}, address = {Philadelphia, Pennsylvania}, doi = {10.1118/1.3468153}, url = {http://dx.doi.org/10.1118/1.3468153}, author = {Xu, Helen and Andras Lasso and Siddharth Vikal and Peter Guion and Axel Krieger and Aradhana Kaushal and Whitcomb, Louis L. and Gabor Fichtinger} } @conference {Ghanavati2010, title = {Multi-Slice to Volume Registration of Ultrasound Data to a Statistical Atlas of Human Pelvis}, booktitle = {SPIE Medical Imaging}, series = {Visualization, Image-Guided Procedures, and Modeling}, volume = {7625}, year = {2010}, month = {23 February 2010}, pages = {76250O-1 {\textendash} 76250O-10}, publisher = {SPIE Digital Library}, organization = {SPIE Digital Library}, address = {San Diego, California, USA}, abstract = {

Identifying the proper orientation of the pelvis is a critical step in accurate placement of the femur prosthesis in the acetabulum in Total Hip Replacement (THR) surgeries. The general approach to localize the orientation of the pelvis coordinate system is to use X-ray fluoroscopy to guide the procedure. An alternative can be employing intra-operative ultrasound (US) imaging with pre-operative CT scan or fluoroscopy imaging. In this paper, we propose to replace the need of pre-operative imaging by using a statistical shape model of the pelvis, constructed from several CT images. We then propose an automatic deformable intensity-based registration of the anatomical atlas to a sparse set of 2D ultrasound images of the pelvis in order to localize its anatomical coordinate system. In this registration technique, we first extract a set of 2D slices from a single instance of the pelvic atlas. Each individual 2D slice is generated based on the location of a corresponding 2D ultrasound image. Next, we create simulated ultrasound images out of the 2D atlas slices and calculate a similarity metric between the simulated images and the actual ultrasound images. The similarity metric guides an optimizer to generate an instance of the atlas that best matches the ultrasound data. We demonstrated the feasibility of our proposed approach on two male human cadaver data. The registration was able to localize a patient-specific pelvic coordinate system with origin translation error of 2 mm and 3.45 mm, and average axes rotation error of 3.5 degrees and 3.9 degrees for the two cadavers, respectively.

}, keywords = {Deformable registration, Freehand ultrasound, Intensity-based registration, Pelvis., Statistical anatomical atlas, Total Hip Replacement}, doi = {10.1117/12.844080}, url = {http://spiedl.aip.org/getabs/servlet/GetabsServlet?prog=normal\&id=PSISDG00762500000176250O000001\&idtype=cvips\&gifs=yes}, author = {Sugantha Ganapathy and Parvin Mousavi and Gabor Fichtinger and Pezhman Foroughi and Purang Abolmaesumi} } @article {Sciubba2010, title = {Percutaneous computed tomography fluoroscopy-guided conformal ultrasonic ablation of vertebral tumors in a rabbit tumor model. Laboratory investigation.}, journal = {J Neurosurg Spine}, volume = {13}, number = {6}, year = {2010}, month = {Dec}, pages = {773{\textendash}779}, publisher = {Department of Neurosurgery, Johns Hopkins University, Baltimore, Maryland 21287, USA. dsciubb1@jhmi.edu}, abstract = {

Radiofrequency ablation (RFA) has proven to be effective for treatment of malignant and benign tumors in numerous anatomical sites outside the spine. The major challenge of using RFA for spinal tumors is difficulty protecting the spinal cord and nerves from damage. However, conforming ultrasound energy to match the exact anatomy of the tumor may provide successful ablation in such sensitive locations. In a rabbit model of vertebral body tumor, the authors have successfully ablated tumors using an acoustic ablator placed percutaneously via computed tomography fluoroscopic (CTF) guidance.Using CTF guidance, 12 adult male New Zealand White rabbits were injected with VX2 carcinoma cells in the lowest lumbar vertebral body. At 21 days, a bone biopsy needle was placed into the geographical center of the lesion, down which an acoustic ablator was inserted. Three multisensor thermocouple arrays were placed around the lesion to provide measurement of tissue temperature during ablation, at thermal doses ranging from 100 to 1,000,000 TEM (thermal equivalent minutes at 43{\textdegree}C), and tumor volumes were given a tumoricidal dose of acoustic energy. Animals were monitored for 24 hours and then sacrificed. Pathological specimens were obtained to determine the extent of tumor death and surrounding tissue damage. Measured temperature distributions were used to reconstruct volumetric doses of energy delivered to tumor tissue, and such data were correlated with pathological findings.All rabbits were successfully implanted with VX2 cells, leading to a grossly apparent spinal and paraspinal tissue mass. The CTF guidance provided accurate placement of the acoustic ablator in all tumors, as corroborated through gross and microscopic histology. Significant tumor death was noted in all specimens without collateral damage to nearby nerve tissue. Tissue destruction just beyond the margin of the tumor was noted in some but not all specimens. No neurological deficits occurred in response to ablation. Reconstruction of measured temperature data allowed accurate assessment of volumetric dose delivered to tissues.Using a rabbit intravertebral tumor model, the authors have successfully delivered tumoricidal doses of acoustic energy via a therapeutic ultrasound ablation probe placed percutaneously with CTF guidance. The authors have thus established the first technical and preclinical feasibility study of controlled ultrasound ablation of spinal tumors in vivo.

}, keywords = {Animals, Carcinoma, Catheter Ablation, Fluoroscopy, instrumentation/methods, Lumbar Vertebrae, Male, Neoplasm Transplantation, Rabbits, Spinal Neoplasms, therapy, Tomography, X-Ray Computed}, doi = {10.3171/2010.5.SPINE09266}, url = {http://dx.doi.org/10.3171/2010.5.SPINE09266}, author = {Daniel M Sciubba and E. Clif Burdette and Jennifer J Cheng and William A Pennant and Joseph C Noggle and Rory J Petteys and Christopher Alix and Chris J Diederich and Gabor Fichtinger and Ziya L Gokaslan and Kieran P Murphy} } @conference {Dehghan2010a, title = {Prostate Brachytherapy Seed Reconstruction using C-Arm Rotation Measurement and Motion Compensation}, booktitle = {Medical Image Computing and Computer-Assisted Intervention (MICCAI) 2010}, year = {2010}, pages = {283-290}, publisher = {Springer}, organization = {Springer}, address = {Beijing, China}, isbn = {978-3-642-15704-2}, doi = {http://dx.doi.org/10.1007/978-3-642-15705-9_35}, author = {Ehsan Dehghan and Junghoon Lee and Mehdi Moradi and Xu Wen and Gabor Fichtinger and Septimiu E. Salcudean} } @article {Gordon2010a, title = {Reconstruction of Needle Tracts from Fluoroscopy in Prostate Brachytherapy}, year = {2010}, address = {Trondheim, Norway, September 2-4, 2010}, author = {Lauren Gordon and Ehsan Dehghan and Septimiu E. Salcudean and Gabor Fichtinger} } @article {Fallavollita2010c, title = {Registration Between Ultrasound and Fluoroscopy or CT in Prostate Brachytherapy}, journal = {Medical Physics}, volume = {37}, year = {2010}, month = {2010}, pages = {2749-2760}, author = {Pascal Fallavollita and Zahra Karim-Aghaloo and E. Clif Burdette and Danny Y Song and Purang Abolmaesumi and Gabor Fichtinger} } @conference {Khallaghi2010, title = {Registration of a Statistical Shape Model of the Lumbar Spine to 3D Ultrasound Images}, booktitle = {Medical Image Computing and Computer-Assisted Intervention (MICCAI) 2010}, year = {2010}, pages = {68-75}, publisher = {Springer}, organization = {Springer}, address = {Beijing, China}, author = {Siavash Khallaghi and Parvin Mousavi and Ren Hui Gong and Sean Gill and Jonathan Boisvert and Gabor Fichtinger and David R Pichora and Daniel P. Borschneck and Purang Abolmaesumi} } @conference {Grzeda2010b, title = {Rotational Encoding of C-arm Fluoroscope with Tilt Sensing Accelerometer}, booktitle = {Medical Image Computing and Computer-Assisted Intervention (MICCAI) 2010}, year = {2010}, pages = {424-431}, publisher = {Springer}, organization = {Springer}, address = {Beijing, China}, author = {Victor Grzeda and Gabor Fichtinger} } @conference {Ahmidi2010a, title = {Surgical Task and Skill Classification from Eye Tracking and Tool Motion in Minimally Invasive Surgery}, booktitle = {Medical Image Computing and Computer-Assisted Intervention (MICCAI) 2010}, year = {2010}, pages = {295-302}, publisher = {Springer}, organization = {Springer}, address = {Beijing, China}, isbn = {978-3-642-15710-3}, doi = {http://dx.doi.org/10.1007/978-3-642-15711-0_37}, author = {Narges Ahmidi and Gregory D. Hager and Lisa Ishii and Gabor Fichtinger and Gary L. Gallia and Masaru Ishii} } @conference {Tadayyon2010b, title = {Target Motion Compensation in MRI-guided Prostate Biopsy with Static Images}, booktitle = {EMBC2010 - 32nd Annual International Conference of the IEEE Engineering in Medicine and Biology Society}, year = {2010}, pages = {5416-5419}, publisher = {Crown}, organization = {Crown}, address = {Buenos Aires, Argentina}, author = {Hadi Tadayyon and Andras Lasso and Sean Gill and Aradhana Kaushal and Peter Guion and Gabor Fichtinger} } @conference {Lasso2010b, title = {Targeting Error Simulator for Image-guided Prostate Needle Placement}, booktitle = {EMBC2010 - 32nd Annual International Conference of the IEEE Engineering in Medicine and Biology Society}, year = {2010}, pages = {5424-5427}, address = {Buenos Aires, Argentina}, author = {Andras Lasso and Shachar Avni and Gabor Fichtinger} } @conference {Pompeu-Robinson2010, title = {Validation platform for ultrasound-based monitoring of thermal ablation}, booktitle = {SPIE - Medical Imaging}, year = {2010}, address = {San Diego}, abstract = {

PURPOSE: A ground-truth validation platform was developed to provide spatial correlation between ultrasound (US), temperature measurements and histopathology images to validate US based thermal ablation monitoring methods. METHOD: The test-bed apparatus consists of a container box with integrated fiducial lines. Tissue samples are suspended within the box using agar gel as the fixation medium. Following US imaging, the gel block is sliced and pathology images are acquired. Interactive software segments the fiducials as well as structures of interest in the pathology and US images. The software reconstructs the regions in 3D space and performs analysis and comparison of the features identified from both imaging modalities. RESULTS: The apparatus and software were constructed to meet technical requirements. Tissue samples were contoured, reconstructed and registered in the common coordinate system of fiducials. There was agreement between the sample shapes, but systematic shift of several millimeters was found between histopathology and US. This indicates that during pathology slicing shear forces tend to dislocate the fiducial lines. Softer fiducial lines and harder gel material can eliminate this problem. CONCLUSION: Viability of concept was presented. Despite our straightforward approach, further experimental work is required to optimize all materials and customize software.

}, doi = {10.1117/12.844053}, author = {Alexandra M. Pompeu-Robinson and James Gray and Joshua Marble and Hamed Peikari and Jena Hall and Paweena U-Thainual and Mohammad Aboofazeli and Andras Lasso and Gabor Fichtinger} } @conference {Gill2009a, title = {Biomechanically Constrained Groupwise US to CT Registration of the Lumbar Spine}, booktitle = {Medical Image Computing and Computer-Assisted Intervention (MICCAI)}, volume = {5761}, year = {2009}, pages = {803-810}, publisher = {Springer}, organization = {Springer}, address = {London, UK}, isbn = {978-3-642-04267-6}, author = {Sean Gill and Parvin Mousavi and Gabor Fichtinger and Purang Abolmaesumi} } @conference {Lang2009, title = {Fusion of electromagnetic tracking with speckle-tracked 3D freehand ultrasound using an unscented Kalman filter}, booktitle = {SPIE Medical Imaging 2009: Ultrasonic Imaging and Signal Processing}, year = {2009}, author = {Andrew Lang and Parvin Mousavi and Gabor Fichtinger and Purang Abolmaesumi} } @conference {Lasso2009, title = {A generic computer assisted intervention plug-in module for 3D Slicer with multiple device support}, booktitle = {Medical Image Computing and Computer-Assisted Intervention (MICCAI)}, year = {2009}, month = {2009}, address = {London, UK}, abstract = {

Various frameworks and toolkits have been proposed for rapid development of computer assisted intervention (CAI) software. In this paper, we investigate how the open-source 3D Slicer application framework can be used for this purpose. We defined general requirements for CAI software to be able to evaluate and enhance 3D Slicer for interventional applications in general, and not just for a specific system. 3D Slicer is found to be an appropriate basis for CAI software, as its built-in functions fulfill many requirements and missing functionalities can be conveniently added. We describe the implementation of a CAI software based on extending core 3D Slicer functions. Three enhancements are described in detail: the management of workflow, DICOM image transfer, and multiple views. The resulting software fulfills general CAI requirements and supports two different MRI-guided prostate biopsy systems (each with a different imaging mode, robotic manipulator and calibration method), thereby demonstrating the usability of our software for implementing CAI applications in general.

}, url = {http://www.insight-journal.org/browse/journal/47}, author = {Andras Lasso and Junichi Tokuda and Siddharth Vikal and Clare M Tempany and Nobuhiko Hata and Gabor Fichtinger} } @conference {Gill2009, title = {Group-wise Registration of Ultrasound to CT Images of Human Vertebrae}, booktitle = {SPIE Medical Imaging 2009: Visualization, Image-Guided Procedures, and Modeling}, volume = {7261}, year = {2009}, pages = {na}, author = {Sean Gill and Parvin Mousavi and Gabor Fichtinger and David R Pichora and Purang Abolmaesumi} } @conference {Song2009, title = {Intraoperative Dosimetry using Registered Ultrasound and Fluoroscopy during Prostate Brachytherapy: Comparison with Real-Time Method using CT as a Standard}, booktitle = {ASTRO}, year = {2009}, author = {Danny Y Song and Zhe Zhang and Anton Degeut and Ameet K. Jain and E. Clif Burdette and Gabor Fichtinger} } @conference {Karim-Aghaloo2009, title = {Intraoperative localization of brachytherapy implants using intensity-based registration}, booktitle = {SPIE Medical Imaging}, volume = {7261}, year = {2009}, author = {Zahra Karim-Aghaloo and Purang Abolmaesumi and Narges Ahmidi and Thomas K. Chen and David Gobbi and Gabor Fichtinger} } @conference {Suljendic2009, title = {MRI Guided Needle Navigation in Prostate Cancer Targeting}, booktitle = {2nd International Workshop on Focal Therapy and Imaging in Prostate and Kidney Cancer}, year = {2009}, author = {Denis Suljendic and Junghoon Lee and S Chopra and Anna Kirilova and J Publicover and J Abed and Masoom Haider and D Galop and Iris Elliott and Gabor Fichtinger and Kristy Brock and Cynthia Menard} } @conference {Foroughi2009, title = {Multi-modality fusion of CT and 3D ultrasound and tracked strain images for breast irradiation planning}, booktitle = {SPIE Medical Imaging 2009: Ultrasonic Imaging and Signal Processing}, volume = {7265}, number = {72651B}, year = {2009}, author = {Pezhman Foroughi and Csaba Csoma and Hassan Rivaz and Gabor Fichtinger and Richard Zellars and Gregory D. Hager and Emad Boctor} } @conference {Aboofazeli2009b, title = {A new scheme for curved needle segmentation in three-dimensional ultrasound images}, booktitle = {Proc. IEEE International Symposium on Biomedical Imaging: From Nano to Macro ISBI {\textquoteright}09}, year = {2009}, pages = {1067{\textendash}1070}, doi = {10.1109/ISBI.2009.5193240}, author = {Mohammad Aboofazeli and Purang Abolmaesumi and Parvin Mousavi and Gabor Fichtinger} } @conference {Tokuda2009, title = {OpenIGTLink: An Open Network Protocol for Image Guided Therapy Environment}, booktitle = {International Journal of Medical Robotics and Computer Assisted Surgery}, volume = {na}, year = {2009}, pages = {na}, author = {Junichi Tokuda and Luis Ibanez and Gregory Fischer and Patrick Cheng and Haiying Liu and Jack Blevins and Jumpei Arata and Xenophon Papademetris and Ziv Yaniv and Tina Kapur and Steve Pieper and E. Clif Burdette and Gabor Fichtinger and Clare M Tempany and Nobuhiko Hata} } @conference {Lee2009, title = {Optimal Matching for Prostate Brachytherapy Seed Localization with Dimension Reduction}, booktitle = {Medical Image Computing and Computer-Assisted Intervention (MICCAI)}, volume = {5761}, year = {2009}, pages = {59-66}, publisher = {Springer}, organization = {Springer}, address = {London, UK}, isbn = {978-3-642-04267-6}, author = {Junghoon Lee and Christian Labat and Ameet K. Jain and Danny Y Song and Gabor Fichtinger and Jerry L. Prince} } @conference {U-Thainual2009a, title = {The Perk Station: Systems design for percutaneous intervention training suite}, booktitle = {Procedings IEEE International Conference on Robotics and Biomimetics ROBIO 2009}, year = {2009}, month = {22{\textendash}25 Feb}, pages = {1693{\textendash}1697}, address = {Bangkok, Thailand}, doi = {10 1109/ROBIO 2009 4913256}, author = {Paweena U-Thainual and Gregory Fischer and Iulian Iordachita and Siddharth Vikal and Gabor Fichtinger} } @article {Vikal2009a, title = {Perk Station-Percutaneous surgery training and performance measurement platform}, journal = {Computerized Medical Imaging and Graphics}, volume = {34}, year = {2009}, month = {05/2009}, pages = {19-32}, abstract = {

MOTIVATION: Image-guided percutaneous (through the skin) needle-based surgery has become part of routine clinical practice in performing procedures such as biopsies, injections, therapeutic implants A novice physician typically performs needle interventions under the supervision of a senior physician; a slow, inherently subjective training process that lacks objective, quantitative assessment of the surgical skill, performance Shortening the learning curve, increasing procedural consistency are important factors in assuring high-quality medical care METHODS: This paper describes a laboratory validation system, called Perk Station, for standardized training, performance measurement under different assistance techniques for needle-based surgical guidance systems The initial goal of the Perk Station is to assess, compare different techniques: 2D image overlay, biplane laser guide, laser protractor, conventional freehand The main focus of this manuscript is the planning, guidance software system developed on the 3D Slicer platform, a free, open source software package designed for visualization, analysis of medical image data RESULTS: The prototype Perk Station has been successfully developed, the associated needle insertion phantoms were built, and the graphical user interface was fully implemented The system was inaugurated in undergraduate teaching, a wide array of outreach activities Initial results, experiences, ongoing activities, future plans are reported

}, doi = {10.1016/j.compmedimag.2009.05.001}, url = {http://dx.doi.org/10.1016/j.compmedimag.2009.05.001}, author = {Siddharth Vikal and Paweena U-Thainual and John A Carrino and Iulian Iordachita and Gregory Fischer and Gabor Fichtinger} } @conference {Ayad2009, title = {Prostate brachytherapy seed localization using a mobile C-arm without tracking}, booktitle = {SPIE Medical Imaging 2009: Visualization, Image-Guided Procedures, and Modeling, Procedings}, volume = {7261}, year = {2009}, pages = {na}, author = {Maria Ayad and Junghoon Lee and Jerry L. Prince and Gabor Fichtinger} } @conference {Lee2009a, title = {Prostate Brachytherapy Seed Reconstruction with Gaussian Blurring and Optimal Coverage Cost}, booktitle = {IEEE Transactions on Medical Imaging}, volume = {na}, year = {2009}, pages = {na}, author = {Junghoon Lee and Ameet K. Jain and Xiaofeng Liu and Jerry L. Prince and Gabor Fichtinger} } @conference {Vikal2009b, title = {Prostate contouring in MRI guided biopsy}, booktitle = {SPIE Medical Imaging}, volume = {7259}, year = {2009}, author = {Siddharth Vikal and Steven Haker and Clare M Tempany and Gabor Fichtinger} } @article {Krupa2009b, title = {Real-time Motion Stabilization with B-Mode Ultrasound Using Image Speckle Information and Visual Servoing}, journal = {International Journal of Robotics Research}, volume = {28}, year = {2009}, month = {10/2009}, pages = {1334-1354}, chapter = {1334}, doi = {10.1177/0278364909104066}, author = {Alexandre Krupa and Gabor Fichtinger and Gregory D. Hager} } @conference {Lee2009b, title = {Reduced-Dimensionality Matching For 3-D Reconstruction Of Prostate Brachytherapy Implants From Incomplete Data}, booktitle = {IEEE International Symposium on Biomedical Imaging}, year = {2009}, note = {IEEE International Symposium on Biomedical Imaging, 2009 (accepted 04/07/2009)}, author = {Junghoon Lee and Christian Labat and Ameet K. Jain and Gabor Fichtinger and Jerry L. Prince} } @conference {Krupa2009, title = {Rigid motion compensation with a robotized 2D ultrasound probe using speckle information and visual servoing}, booktitle = {ICRA}, year = {2009}, author = {Alexandre Krupa and Gabor Fichtinger and Gregory D. Hager} } @article {Chang2009, title = {A robotic system for [sup 18]F-FMISO PET-guided intratumoral pO[sub 2] measurements}, journal = {Medical Physics}, volume = {36}, number = {11}, year = {2009}, pages = {5301-5309}, publisher = {AAPM}, keywords = {biomedical measurement, medical robotics, organic compounds, Oxygen, position control, positron emission tomography, pressure measurement, tumours}, doi = {10.1118/1.3239491}, url = {http://link.aip.org/link/?MPH/36/5301/1}, author = {Jenghwa Chang and Bixiu Wen and Peter Kazanzides and Pat Zanzonico and Ronald D. Finn and Gabor Fichtinger and Clifton Ling} } @article {U-Thainual2009, title = {Teaching Aid for Computer-Assisted Surgery}, year = {2009}, author = {Paweena U-Thainual and Iulian Iordachita and Siddharth Vikal and Gabor Fichtinger} } @conference {Aboofazeli2009, title = {Tissue characterization using multiscale products of wavelet transform of ultrasound radio frequency echoes}, booktitle = {Proc. Annual International Conference of the IEEE Engineering in Medicine and Biology Society EMBC 2009}, year = {2009}, pages = {479{\textendash}482}, doi = {10.1109/IEMBS.2009.5335160}, author = {Mohammad Aboofazeli and Purang Abolmaesumi and Gabor Fichtinger and Parvin Mousavi} } @article {Metaxas2008, title = {11th International Conference, New York, NY, USA, September 6-10, 2008 Proceedings, Part II Preface}, journal = {Medical image computing and computer-assisted intervention (MICCAI)}, volume = {11}, number = {Pt 2}, year = {2008}, pages = {V{\textendash}VIII}, keywords = {Computer-Assisted, Diagnostic Imaging, Image Interpretation, Interventional, Radiography, Surgery}, author = {Dimitris Metaxas and Leon Axel and Gabor Fichtinger and Gabor Szekely} } @article {Rivaz2008b, title = {Ablation monitoring with elastography: 2D in-vivo and 3D ex-vivo studies}, journal = {Medical image computing and computer-assisted intervention (MICCAI)}, volume = {11}, number = {Pt 2}, year = {2008}, pages = {458{\textendash}466}, publisher = {ERC for Computer Integrated Surgery, Johns Hopkins University, USA rivaz@jhu edu}, abstract = {

The clinical feasibility of 2D elastography methods is hindered by the requirement that the operator avoid out-of-plane motion of the ultrasound image during palpation, and also by the lack of volumetric elastography measurements In this paper, we develop, evaluate a 3D elastography method operating on volumetric data acquired from a 3D probe Our method is based on minimizing a cost function using dynamic programming (DP) The cost function incorporates similarity of echo amplitudes, displacement continuity We present, to the best of our knowledge, the first in-vivo patient studies of monitoring liver ablation with freehand DP elastography The thermal lesion was not discernable in the B-mode image but it was clearly visible in the strain image as well as in validation CT We also present 3D strain images from thermal lesions in ex-vivo ablation Good agreement was observed between strain images, CT, gross pathology

}, keywords = {Carcinoma, Catheter Ablation, Computer-Assisted, Elasticity Imaging Techniques, Feasibility Studies, Hepatectomy, Hepatocellular, Humans, Image Interpretation, Imaging, Liver Neoplasms, methods, Surgery, surgery/ultrasonography, Three-Dimensional, Treatment Outcome}, author = {Hassan Rivaz and Ioana Fleming and Lia Assumpcao and Gabor Fichtinger and Ulrike Hamper and Michael Choti and Gregory D. Hager and Emad Boctor} } @conference {Aboofazeli2008, title = {Automated curved needle segmentation in three-dimensional ultrasound images}, booktitle = {Proceedings of Workshop on Needle Steering: Recent Results and Future Opportunities, a Satellite Workshop of International Conference on Medical Image Computing and Computer Assisted Intervention}, year = {2008}, author = {Mohammad Aboofazeli and Gabor Fichtinger and Purang Abolmaesumi} } @conference {Aboofazeli2008a, title = {Automated curved needle segmentation in three-dimensional ultrasound images}, booktitle = {7th Imaging Symposium of the Imaging Network of Ontario}, year = {2008}, author = {Mohammad Aboofazeli and Gabor Fichtinger and Purang Abolmaesumi} } @conference {Foroughi2008b, title = {Automatic initialization for 3D bone registration}, booktitle = {Medical Imaging 2008: Visualization, Image-guided Procedures, and Modeling}, volume = {6918}, number = {1}, year = {2008}, pages = {69182P}, publisher = {SPIE}, organization = {SPIE}, doi = {10 1117/12 772632}, url = {http://link aip org/link/?PSI/6918/69182P/1}, author = {Pezhman Foroughi and Russell H. Taylor and Gabor Fichtinger}, editor = {Michael I. Miga and Kevin Cleary} } @conference {Kazanzides2008, title = {Clinical Trials of a Robot Assistant for Ultrasound-Guided Prostate Brachytherapy}, booktitle = {Abstract in Minimally Invasive Therapy, 20th International Conference of the Society for Medical Innovation and Technology (SMIT)}, volume = {14}, number = {4}, year = {2008}, pages = {213}, author = {Peter Kazanzides and Danny Y Song and Jonathan Fiene and E. Clif Burdette and Gernot Kronreif and Wolfgang Ptacek and Iulian Iordachita and Gabor Fichtinger} } @conference {Chintalapani2008, title = {CTREC: C-arm tracking and reconstruction using elliptic curves}, booktitle = {Procedings IEEE Computer Society Conference on Computer Vision and Pattern Recognition Workshops CVPR Workshops 2008}, year = {2008}, month = {23{\textendash}28 June}, pages = {1{\textendash}7}, doi = {10 1109/CVPRW 2008 4563029}, author = {Gouthami Chintalapani and Ameet K. Jain and David Burkhardt and Jerry L. Prince and Gabor Fichtinger} } @conference {Chintalapani2008a, title = {CTREC - C-arm tracking and reconstruction using elliptic curves}, booktitle = {International Workshop on Mathematical Methods in Biomedical Image Analysis (MMBIA)}, year = {2008}, author = {Gouthami Chintalapani and Ameet K. Jain and David Burkhardt and Jerry L. Prince and Gabor Fichtinger} } @conference {Krieger2008a, title = {Design and Preliminary Clinical Studies of an MRI-Guided Transrectal Prostate Intervention System}, booktitle = {7th International Symposium on Interventional MRI}, year = {2008}, pages = {6-10}, author = {Axel Krieger and Iulian Iordachita and Csaba Csoma and Gabor Fichtinger and Whitcomb, Louis L.} } @conference {Krieger2008, title = {Design and Preliminary Clinical Studies of an MRI-Guided Transrectal Prostate Intervention System}, booktitle = {International Society of Magnetic Resonance in Medicine (ISMRM)}, year = {2008}, author = {Axel Krieger and Peter Guion and Csaba Csoma and Iulian Iordachita and Anurag K. Singh and Aradhana Kaushal and Cynthia Menard and Gabor Fichtinger and Whitcomb, Louis L.} } @conference {Jain2008, title = {Dynamic dosimetry and edema detection in prostate brachytherapy: a complete system}, booktitle = {Medical Imaging 2008: Visualization and Image-guided Procedures, and Modeling}, volume = {6918}, number = {1}, year = {2008}, pages = {69181Y}, publisher = {SPIE}, organization = {SPIE}, doi = {10 1117/12 772352}, url = {http://link aip org/link/?PSI/6918/69181Y/1}, author = {Ameet K. Jain and Anton Degeut and Iulian Iordachita and Gouthami Chintalapani and Jack Blevins and Le Yi and Elwood Armour and E. Clif Burdette and Danny Y Song and Gabor Fichtinger} } @conference {Gill2008, title = {Group-wise Ultrasound to CT Registration of the Lumbar Spine}, booktitle = {7th Symposium of the Imaging Network of Ontario, Toronto}, year = {2008}, pages = {73}, author = {Sean Gill and Parvin Mousavi and Gabor Fichtinger and David R Pichora and Purang Abolmaesumi} } @conference {Mewes2008, title = {Integrated system for robot-assisted in prostate biopsy in closed MRI scanner}, booktitle = {Procedings IEEE International Conference on Robotics and Automation ICRA 2008}, year = {2008}, month = {19{\textendash}23 May}, pages = {2959{\textendash}2962}, doi = {10 1109/ROBOT 2008 4543659}, author = {Philip Mewes and Junichi Tokuda and Simon DiMaio and Gregory Fischer and Csaba Csoma and David Gobbi and Clare M Tempany and Gabor Fichtinger and Nobuhiko Hata} } @conference {Karim-Aghaloo2008a, title = {Intensity-based registration of prostate brachytherapy implants and ultrasound}, booktitle = {Procedings 5th IEEE International Symposium on Biomedical Imaging: From Nano to Macro ISBI 2008}, year = {2008}, month = {14{\textendash}17 May}, pages = {780{\textendash}783}, doi = {10 1109/ISBI 2008 4541112}, author = {Zahra Karim-Aghaloo and Gabor Fichtinger and David Gobbi and E. Clif Burdette and Robert Rohling and Purang Abolmaesumi} } @conference {Karim-Aghaloo2008b, title = {Intra-operative Localization of Brachytherapy Implants Using Intensity-based Registration}, booktitle = {7th Imaging Symposium of the Imaging Network of Ontario}, year = {2008}, author = {Zahra Karim-Aghaloo and Purang Abolmaesumi and Narges Ahmidi and Thomas K. Chen and David Gobbi and Gabor Fichtinger} } @conference {Gill2008a, title = {Intraoperative Prostate Tracking with Slice-to-Volume Registration in MRI}, booktitle = {20th International Conference of the Society for Medical Innovation and Technology}, year = {2008}, month = {08/2008}, pages = {154-158}, publisher = {Society for Medical Innovation and Technology SMIT}, organization = {Society for Medical Innovation and Technology SMIT}, address = {Vienna, Austria, August 28-31, 2008}, isbn = {3-902087-25-0}, author = {Sean Gill and Purang Abolmaesumi and Siddharth Vikal and Parvin Mousavi and Gabor Fichtinger} } @article {Foroughi2008, title = {Localization of pelvic anatomical coordinate system using US/atlas registration for total hip replacement}, journal = {Medical image computing and computer-assisted intervention (MICCAI)}, volume = {11}, number = {Pt 2}, year = {2008}, pages = {871{\textendash}879}, publisher = {Johns Hopkins University, Baltimore, MD, USA pezhman@cs jhu edu}, abstract = {

In Total Hip Replacement (THR) procedures, misalignment of the acetabular component can lead to dislocation, impingement For the successful alignment of acetabular component, precise estimation of pelvic anatomical coordinate system is necessary Conventional navigation systems use CT scan or fluoroscopy, or involve implanted bone fiducials or invasive probing of bony landmarks to locate the anatomical coordinate In this paper, an ultrasound-based approach is proposed that exploits prior knowledge about the anatomy of the pelvis in the form of a 3D surface atlas Tracked ultrasound images are utilized to extract sample points from the surface of the pelvis A generic coordinate system in the specific patient is localized by registering these points to a statistical atlas of the pelvis in which a canonical anatomical coordinate system had been defined This technique has been evaluated using simulation, dry bone, and cadaver experiments, was able to localize the anatomical coordinate system with the accuracy of about 1 degree

}, keywords = {Algorithms, Arthroplasty, Automated, Computer-Assisted, Hip, Hip Joint, Humans, Image Enhancement, Image Interpretation, Imaging, methods, Pattern Recognition, Pelvic Bones, Replacement, Reproducibility of Results, Sensitivity, Specificity, Subtraction Technique, Surgery, surgery/ultrasonography, Three-Dimensional, Ultrasonography}, author = {Pezhman Foroughi and Danny Y Song and Gouthami Chintalapani and Russell H. Taylor and Gabor Fichtinger} } @article {Metaxas2008a, title = {Medical image computing and computer-assisted intervention{\textendash}Medical Image Computing and Computer-Assisted Intervention (MICCAI) 2008 Preface}, journal = {Medical image computing and computer-assisted intervention (MICCAI)}, volume = {11}, number = {Pt 1}, year = {2008}, pages = {V{\textendash}VII}, publisher = {Rutgers University, Division of Computer, Information Sciences, Piscataway, NJ 08854-8019, USA}, keywords = {Algorithms, Computer-Assisted, Image Enhancement, Image Interpretation, Interventional, methods, Radiography, Surgery, trends}, author = {Dimitris Metaxas and Leon Axel and Gabor Fichtinger and Gabor Szekely} } @inbook {Taylor2008, title = {Medical Robots and Systems}, booktitle = {Springer Handbook of Robotics}, year = {2008}, pages = {na}, publisher = {Springer}, organization = {Springer}, chapter = {52. Medical Robotics and Computer-Integrated Surgery}, author = {Russell H. Taylor and Arianna Menciassi and Gabor Fichtinger and Paolo Dario} } @conference {U-Thainual2008, title = {MR/CT Percutaneous Intervention Training Suite}, booktitle = {7th International Symposium on Interventional MRI}, year = {2008}, pages = {81-85}, author = {Paweena U-Thainual and Gregory Fischer and John A Carrino and Gabor Fichtinger and Iulian Iordachita} } @article {Fischer2008, title = {MRI Compatibility of Robot Actuation Techniques - A Comparative Study}, journal = {Medical Image Computing and Computer-Assisted Intervention (MICCAI) Proceedings in Lecture Notes in Computer Science}, volume = {5242}, year = {2008}, pages = {509-517}, author = {Gregory Fischer and Axel Krieger and Iulian Iordachita and Whitcomb, Louis L. and Gabor Fichtinger} } @conference {Krieger2008b, title = {MRI Guided Prostate Biopsy and Marker Placements}, booktitle = {Workshop on Clinical Image-Guided Therapy: Opportunities and Needs}, year = {2008}, author = {Axel Krieger and Peter Guion and Csaba Csoma and Iulian Iordachita and Anurag K. Singh and Aradhana Kaushal and Whitcomb, Louis L. and Gabor Fichtinger} } @article {Fischer2008b, title = {MRI-Compatible Pneumatic Robot for Transperineal Prostate Needle Placement}, journal = {IEEE/ASME Transactions on Mechatronics}, volume = {13}, number = {3}, year = {2008}, month = {June}, pages = {295{\textendash}305}, doi = {10 1109/TMECH 2008 924044}, author = {Gregory Fischer and Iulian Iordachita and Csaba Csoma and Junichi Tokuda and Simon DiMaio and Clare M Tempany and Nobuhiko Hata and Gabor Fichtinger} } @conference {Boisvert2008, title = {An open-source solution for interactive acquisition, processing and transfer of interventional ultrasound images}, booktitle = {Workshop on Systems and Architectures for Computer Assisted Interventions, held in conjunction with the 11th International Conference on Medical Image Computing and Computer Assisted Intervention}, year = {2008}, author = {Jonathan Boisvert and David Gobbi and Siddharth Vikal and Robert Rohling and Gabor Fichtinger and Purang Abolmaesumi} } @conference {U-Thainual2008b, title = {The Perk Station: Design of a percutaneous intervention training suite}, booktitle = {20th International Conference of the Society for Medical Innovation and Technology (SMIT)}, year = {2008}, month = {08/2008}, pages = {148-153}, address = {Vienna, Austria, August 28-31}, isbn = {3-902087-25-0}, author = {Paweena U-Thainual and Iulian Iordachita and Gabor Fichtinger} } @conference {U-Thainual2008a, title = {The Perk Station: Portable training station for percutaneous interventions}, booktitle = {Orthopaedic Care Conference}, year = {2008}, author = {Paweena U-Thainual and Siddharth Vikal and Iulian Iordachita and Gabor Fichtinger} } @conference {Fischer2008a, title = {Pneumatically operated MRI-compatible needle placement robot for prostate interventions}, booktitle = {Procedings IEEE International Conference on Robotics and Automation ICRA 2008}, year = {2008}, month = {19{\textendash}23 May}, pages = {2489{\textendash}2495}, doi = {10 1109/ROBOT 2008 4543587}, author = {Gregory Fischer and Iulian Iordachita and Csaba Csoma and Junichi Tokuda and Philip Mewes and Clare M Tempany and Nobuhiko Hata and Gabor Fichtinger} } @article {Lee2008a, title = {Prostate brachytherapy seed localization with Gaussian blurring and camera self-calibration}, journal = {Medical image computing and computer-assisted intervention (MICCAI)}, volume = {11}, number = {Pt 2}, year = {2008}, pages = {636{\textendash}643}, publisher = {Department of Electrical, Computer Engineering, Johns Hopkins University, Baltimore, MD, USA}, abstract = {

A tomosynthesis-based prostate brachytherapy seed localization method is described Gaussian-blurred images are computed from a limited number of X-ray images, and a 3-D volume is reconstructed by backprojection Candidate seed locations are extracted from the reconstructed volume, false positive seeds are removed by optimizing a local cost function In case where the estimated pose error is large, a self-calibration process corrects the estimation error of the intrinsic camera parameters, the translation of the pose in order to improve the reconstruction Simulation, phantom experiment results imply that the implanted seed locations can be estimated from four or five images depending on the number of seeds The algorithm was also validated using patient data, successfully localizing the implanted seeds

}, keywords = {Artifacts, Brachytherapy, Calibration, Computer-Assisted, Humans, instrumentation/methods/standards, Male, methods, methods/standards, Normal Distribution, Prostatic Neoplasms, Radiographic Image Interpretation, radiography/radiotherapy, Radiotherapy, Tomography, X-Ray Computed}, author = {Junghoon Lee and Xiaofeng Liu and Jerry L. Prince and Gabor Fichtinger} } @conference {Vikal2008, title = {Prostate contouring in MRI guided biopsy}, booktitle = {Workshop on Prostate image analysis and computer-assisted intervention, International Conference on Medical Image Computing and Computer Assisted Intervention}, year = {2008}, author = {Siddharth Vikal and Steven Haker and Clare M Tempany and Gabor Fichtinger} } @article {Hefny2008, title = {Quantification of edematic effects in prostate brachytherapy interventions}, journal = {Medical image computing and computer-assisted intervention (MICCAI)}, volume = {11}, number = {Pt 2}, year = {2008}, pages = {493{\textendash}500}, publisher = {School of Computing, Queen{\textquoteright}s University, Kingston, Ontario, Canada}, abstract = {

We present a quantitative model to analyze the detrimental effects of for edema on the quality of prostate brachytherapy implants We account for both tissue expansion, implant migration by mapping intra-operative ultrasound, post-implant CT We pre-process the ultrasound with a phase congruency filter, and map it to the volume CT using a B-spline deformable mutual information similarity metric To test the method, we implanted a standard training phantom with 48 seeds, imaged the phantom with ultrasound, CT, registered the two for ground truth Edema was simulated by distorting the CT volume by known transformations The objective was to match the distorted implant to the intra-operative ultrasound Performance was measured relative to ground truth We successfully mapped 100\% of deformed seeds to ground truth under edematic expansion up to 40\% of volume growth Seed matching performance was 98\% with random seed migration of 3mm superimposed on 10\% edematic volume growth This method promises to be clinically applicable as the first quantitative analysis tool to measure edematic implant deformations occurring between the operating room, post-operative CT imaging

}, keywords = {adverse effects, adverse effects/instrumentation, Algorithms, Automated, Brachytherapy, complications/radiotherapy, Computer-Assisted, Edema, etiology/radiography, Humans, Male, methods, Pattern Recognition, Prostatic Diseases, Prostatic Neoplasms, Prosthesis Implantation, Radiographic Image Enhancement, Radiographic Image Interpretation, Reproducibility of Results, Sensitivity, Specificity, Tomography, Treatment Outcome, X-Ray Computed}, author = {Mohamed Hefny and Purang Abolmaesumi and Zahra Karim-Aghaloo and David Gobbi and Randy Ellis and Gabor Fichtinger} } @conference {Tokuda2008a, title = {Real-time MR Imaging Controlled by Transperineal Needle Placement Device for MRI-guided Prostate Biopsy}, booktitle = {16th Scientific Meeting and Exhibition of International Society of Magnetic Resonance in Medicine}, year = {2008}, author = {Junichi Tokuda and Simon DiMaio and Gregory Fischer and Csaba Csoma and David Gobbi and Gabor Fichtinger and Nobuhiko Hata and Clare M Tempany} } @article {Song2008, title = {Registered ultrasound and fluoroscopy for intraoperative dynamic dosimetry in prostate brachytherapy}, journal = {Brachytherapy}, volume = {7}, number = {2}, year = {2008}, pages = {102 - 102}, issn = {1538-4721}, doi = {DOI: 10 1016/j brachy 2008 02 364}, url = {http://www sciencedirect com/science/article/B6X3G-4S86YJ8-1B/2/332751abcc9066ed833bea302ef2f604}, author = {Danny Y Song and Anton Degeut and Iulian Iordachita and Elwood Armour and Ameet K. Jain and E. Clif Burdette and Gabor Fichtinger} } @conference {Song2008b, title = {Registered Ultrasound and Fluoroscopy for Intraoperative Dynamic Dosimetry in Prostate Brachytherapy}, booktitle = {Workshop on Clinical Image-Guided Therapy: Opportunities and Needs}, year = {2008}, author = {Danny Y Song and Anton Degeut and Ameet K. Jain and Elwood Armour and Le Yi and Jack Blevins and Iulian Iordachita and E. Clif Burdette and Gabor Fichtinger} } @conference {Fichtinger2008a, title = {Robotic Assistance for Ultrasound Guided Prostate Brachytherapy}, booktitle = {Workshop on Clinical Image-Guided Therapy: Opportunities and Needs}, year = {2008}, author = {Gabor Fichtinger and Jonathan Fiene and Christopher Kennedy and Iulian Iordachita and Gernot Kronreif and Danny Y Song and E. Clif Burdette and Peter Kazanzides} } @article {Fichtinger2008b, title = {Robotic assistance for ultrasound-guided prostate brachytherapy}, journal = {Medical Image Analysis}, volume = {12}, number = {5}, year = {2008}, month = {06/2008}, pages = {535}, publisher = {Queen{\textquoteright}s University; 25 Union Street;725 Goodwin Hall; Kingston; ON; Canada gabor@cs queensu ca}, abstract = {

We present a robotically assisted prostate brachytherapy system, test results in training phantoms, Phase-I clinical trials The system consists of a transrectal ultrasound (TRUS), a spatially co-registered robot,fully integrated with an FDA-approved commercial treatment planning system The salient feature of the system is a small parallel robot affixed to the mounting posts of the template The robot replaces the template interchangeably,using the same coordinate system Established clinical hardware,workflow, calibration remain intact In all phantom experiments,we recorded the first insertion attempt without adjustment All clinically relevant locations in the prostate were reached Non-parallel needle trajectories were achieved The pre-insertion transverse, rotational errors (measured with a Polaris optical tracker relative to the template{\textquoteright}s coordinate frame) were 0 25 mm (STD=0 17 mm), 0 75 degrees (STD=0 37 degrees) In phantoms,needle tip placement errors measured in TRUS were 1 04 mm (STD=0 50mm) A Phase-I clinical feasibility, safety trial has been successfully completed with the system We encountered needle tip positioning errors of a magnitude greater than 4mm in only 2 of 179 robotically guided needles,in contrast to manual template guidance where errors of this magnitude are much more common Further clinical trials are necessary to determine whether the apparent benefits of the robotic assistant will lead to improvements in clinical efficacy, outcomes

}, keywords = {Brachytherapy, Computer-Assisted, Equipment Design, Equipment Failure Analysis, Humans, instrumentation, instrumentation/methods, Interventional, Male, Prostatic Neoplasms, Radiotherapy, radiotherapy/ultrasonography, Robotics, Ultrasonography}, doi = {10 1016/j media 2008 06 002}, url = {http://dx doi org/10 1016/j media 2008 06 002}, author = {Gabor Fichtinger and Jonathan Fiene and Christopher Kennedy and Gernot Kronreif and Iulian Iordachita and Danny Y Song and E. Clif Burdette and Peter Kazanzides} } @article {Song2008a, title = {Robotic needle positioner for ultrasound-guided prostate brachytherapy}, journal = {Brachytherapy}, volume = {7}, number = {2}, year = {2008}, pages = {176 - 176}, issn = {1538-4721}, doi = {DOI: 10 1016/j brachy 2008 02 440}, url = {http://www sciencedirect com/science/article/B6X3G-4S86YJ8-9B/2/5e814b7f2bd163b3e6a2aa414211fce0}, author = {Danny Y Song and Gabor Fichtinger and Jonathan Fiene and Christopher Kennedy and Gernot Kronreif and Iulian Iordachita and E. Clif Burdette and Peter Kazanzides} } @conference {Gobbi2008, title = {Simulink libraries for visual programming of VTK and ITK}, booktitle = {Workshop on Systems and Architectures for Computer Assisted Interventions, held in conjunction with the 11th International Conference on Medical Image Computing and Computer Assisted Intervention}, year = {2008}, author = {David Gobbi and Parvin Mousavi and K Li and Jing Xiang and Adam Campigotto and Gabor Fichtinger and Purang Abolmaesumi} } @article {Tokuda2008, title = {Software strategy for robotic transperineal prostate therapy in closed-bore MRI}, journal = {Medical image computing and computer-assisted intervention (MICCAI)}, volume = {11}, number = {Pt 2}, year = {2008}, pages = {701{\textendash}709}, publisher = {Department of Radiology, Brigham, Women{\textquoteright}s Hospital, Harvard Medical School, 75 Francis St , Boston, MA 02115, USA tokuda@bwh harvard edu}, abstract = {

A software strategy to provide intuitive navigation for MRI-guided robotic transperineal prostate therapy is presented In the system, the robot control unit, the MRI scanner, and open-source navigation software are connected to one another via Ethernet to exchange commands, coordinates, and images Six states of the system called "workphases" are defined based on the clinical scenario to synchronize behaviors of all components The wizard-style user interface allows easy following of the clinical workflow On top of this framework, the software provides features for intuitive needle guidance: interactive target planning; 3D image visualization with current needle position; treatment monitoring through real-time MRI These features are supported by calibration of robot, image coordinates by the fiducial-based registration The performance test shows that the registration error of the system was 2 6 mm in the prostate area, and it displayed real-time 2D image 1 7 s after the completion of image acquisition

}, keywords = {Brachytherapy, Computer-Assisted, Humans, Image Interpretation, Interventional, Magnetic Resonance Imaging, Male, methods, Needles, pathology/radiotherapy, Prostatic Neoplasms, Radiotherapy, Robotics, Software, Software Design}, author = {Junichi Tokuda and Gregory Fischer and Csaba Csoma and Simon DiMaio and David Gobbi and Gabor Fichtinger and Clare M Tempany and Nobuhiko Hata} } @article {Kazanzides2008a, title = {Surgical and Interventional Robotics - Core Concepts, Technology and Design [Tutorial]}, journal = {IEEE Robotics \& Automation Magazine}, volume = {15}, number = {2}, year = {2008}, month = {June}, pages = {122{\textendash}130}, doi = {10 1109/MRA 2008 926390}, author = {Peter Kazanzides and Gabor Fichtinger and Gregory D. Hager and Allison Okamura and Whitcomb, Louis L. and Russell H. Taylor} } @article {Fichtinger2008, title = {Surgical and interventional robotics: Part II}, journal = {IEEE Robotics \& Automation Magazine}, volume = {15}, number = {3}, year = {2008}, month = {September}, pages = {94{\textendash}102}, doi = {10 1109/MRA 2008 927971}, author = {Gabor Fichtinger and Peter Kazanzides and Allison Okamura and Gregory D. Hager and Whitcomb, Louis L. and Russell H. Taylor} } @article {Hager2008, title = {Surgical and interventional robotics: part III [Tutorial]}, journal = {IEEE Robotics \& Automation Magazine}, volume = {15}, number = {4}, year = {2008}, month = {Dec}, pages = {84{\textendash}93}, doi = {10 1109/MRA 2008 930401}, author = {Gregory D. Hager and Allison Okamura and Peter Kazanzides and Whitcomb, Louis L. and Gabor Fichtinger and Russell H. Taylor} } @conference {Ahmidi2008, title = {A System for Performance Analysis of Surgeon Dexterity in Percutaneous Needle-based Interventions}, booktitle = {7th Imaging Symposium of the Imaging Network of Ontario}, year = {2008}, author = {Narges Ahmidi and Paweena U-Thainual and Siddharth Vikal and Parvin Mousavi and Iulian Iordachita and Gabor Fichtinger} } @conference {Lee2008, title = {Tomosynthesis-based radioactive seed localization in prostate brachytherapy using modified distance map images}, booktitle = {Procedings 5th IEEE International Symposium on Biomedical Imaging: From Nano to Macro ISBI 2008}, year = {2008}, month = {14{\textendash}17 May}, pages = {680{\textendash}683}, doi = {10 1109/ISBI 2008 4541087}, author = {Junghoon Lee and Xiaofeng Liu and Ameet K. Jain and Jerry L. Prince and Gabor Fichtinger} } @conference {Karim-Aghaloo2008, title = {Towards detecting surgical clips in 3D ultrasound for target localization in radiation therapy: a study on tissue phantoms}, booktitle = {International Conference of the IEEE Engineering in Medicine and Biology Society}, volume = {2008}, year = {2008}, pages = {5282{\textendash}5285}, publisher = {Department of Electrical, Computer Engineering, Queens University, Kingston, ON K7L3N6, Canada}, organization = {Department of Electrical, Computer Engineering, Queens University, Kingston, ON K7L3N6, Canada}, abstract = {

A study is performed to measure the visibility of small surgical clips in 3D ultrasound volumes of a phantom as the first step towards using such clips as fiducial markers in radiation therapy Visibility is calculated as the contrast to noise ratio of the echo from the clip to the background The appearance of a resonance tail is also calculated using a moment analysis Contrast is found to be high, mostly independent of material, size of the clip All clips are visible, but the length of the tail is found to be dependent on clip orientation to the ultrasound beam The consistent visibility of the clips suggests they are suitable as fiducial markers in ultrasound, the dependency of the resonance tail on orientation provides an opportunity to distinguish clips from other specular reflectors

}, keywords = {Computer-Assisted, Equipment Design, Equipment Failure Analysis, Humans, Image Enhancement, Imaging, instrumentation, instrumentation/methods, methods, Phantoms, Radiotherapy, Reproducibility of Results, Sensitivity, Specificity, Surgical Instruments, Three-Dimensional, Ultrasonography}, doi = {10 1109/IEMBS 2008 4650406}, url = {http://dx doi org/10 1109/IEMBS 2008 4650406}, author = {Zahra Karim-Aghaloo and Prasad Shrawane and Purang Abolmaesumi and Gabor Fichtinger and Robert Rohling} } @conference {Fischer2008c, title = {A Training Suite for Image Overlay and Other Needle Insertion Techniques}, booktitle = {2008 MICCAI Workshop - Augmented Environments for Medical Imaging and Computer-Aided Surgery (AMI-ARCS)}, year = {2008}, author = {Gregory Fischer and Iulian Iordachita and Paweena U-Thainual and John A Carrino and Gabor Fichtinger} } @conference {Foroughi2008a, title = {Ultrasound Based Localization of Pelvic Anatomical Coordinate System}, booktitle = {8th Annual Meeting of Computer Assisted Orthopedic Surgery International (CAOS)}, year = {2008}, pages = {81-83}, author = {Pezhman Foroughi and Danny Y Song and Russell H. Taylor and Gabor Fichtinger} } @article {Kettenbach2008, title = {Ultrasound-, CT-, MR-Guided Robot-Assisted Interventions}, journal = {Image Processing in Radiology}, volume = {3}, year = {2008}, pages = {393-409}, author = {Joachim Kettenbach and Gernot Kronreif and Andreas Melzer and Gabor Fichtinger and Dan Stoianovici and Kevin Cleary} } @article {Rivaz2008a, title = {Ultrasound elastography: a dynamic programming approach}, journal = {IEEE transactions on medical imaging}, volume = {27}, number = {10}, year = {2008}, month = {Oct}, pages = {1373{\textendash}1377}, publisher = {Engineering Research Center for Computer Integrated Surgery, Johns Hopkins University, 3400 N Charles Street, Baltimore, MD 21218, USA}, abstract = {

This paper introduces a 2-D strain imaging technique based on minimizing a cost function using dynamic programming (DP) The cost function incorporates similarity of echo amplitudes, displacement continuity Since tissue deformations are smooth, the incorporation of the smoothness into the cost function results in reduced decorrelation noise As a result, the method generates high-quality strain images of freehand palpation elastography with up to 10\% compression, showing that the method is more robust to signal decorrelation (caused by scatterer motion in high axial compression, nonaxial motions of the probe) in comparison to the standard correlation techniques The method operates in less than 1 s, is thus also potentially suitable for real time elastography

}, keywords = {Algorithms, Computer-Assisted, Elasticity Imaging Techniques, Humans, Image Enhancement, Image Interpretation, Imaging, instrumentation/methods, methods, Numerical Analysis, Phantoms, Sensitivity, Specificity}, doi = {10 1109/TMI 2008 917243}, url = {http://dx doi org/10 1109/TMI 2008 917243}, author = {Hassan Rivaz and Emad Boctor and Pezhman Foroughi and Richard Zellars and Gabor Fichtinger and Gregory D. Hager} } @conference {Rivaz2007, title = {Beam Steering Approach for Speckle Characterization and Out-of-Plane Motion Estimation in Real Tissue}, booktitle = {Procedings IEEE Ultrasonics Symposium}, year = {2007}, month = {10/2007}, pages = {781{\textendash}784}, doi = {10 1109/ULTSYM 2007 200}, author = {Hassan Rivaz and Richard Zellars and Gregory D. Hager and Gabor Fichtinger and Emad Boctor} } @conference {Jain2007b, title = {C-arm based Intra-operative Dosimetry in Prostate Brachytherapy}, booktitle = {Annual Meeting of the American Association of Physicists in Medicine (AAPM)}, year = {2007}, author = {Ameet K. Jain and Anton Degeut and Iulian Iordachita and Jack Blevins and Le Yi and Elwood Armour and E. Clif Burdette and Danny Y Song and Gabor Fichtinger} } @conference {Jain2007a, title = {C-arm calibration: is it really necessary?}, booktitle = {Medical Imaging 2007: Visualization and Image-Guided Procedures}, volume = {6509}, number = {1}, year = {2007}, pages = {65092U}, publisher = {SPIE}, organization = {SPIE}, doi = {10 1117/12 712301}, url = {http://link aip org/link/?PSI/6509/65092U/1}, author = {Ameet K. Jain and Michael An and Nicha Chitphakdithai and Gouthami Chintalapani and Gabor Fichtinger} } @article {DiMaio2007b, title = {Challenges in image-guided therapy system design}, journal = {Neuroimage}, volume = {37 Suppl 1}, year = {2007}, pages = {S144{\textendash}S151}, publisher = {Brigham, Women{\textquoteright}s Hospital, 75 Francis St , Boston, MA 02115, USA simond@bwh harvard edu}, abstract = {

System development for image-guided therapy (IGT), or image-guided interventions (IGI), continues to be an area of active interest across academic, industry groups This is an emerging field that is growing rapidly: major academic institutions, medical device manufacturers have produced IGT technologies that are in routine clinical use, dozens of high-impact publications are published in well regarded journals each year, and several small companies have successfully commercialized sophisticated IGT systems In meetings between IGT investigators over the last two years, a consensus has emerged that several key areas must be addressed collaboratively by the community to reach the next level of impact, efficiency in IGT research, development to improve patient care These meetings culminated in a two-day workshop that brought together several academic, industrial leaders in the field today The goals of the workshop were to identify gaps in the engineering infrastructure available to IGT researchers, develop the role of research funding agencies, the recently established US-based National Center for Image Guided Therapy (NCIGT), and ultimately to facilitate the transfer of technology among research centers that are sponsored by the National Institutes of Health (NIH) Workshop discussions spanned many of the current challenges in the development, deployment of new IGT systems Key challenges were identified in a number of areas, including: validation standards; workflows, use-cases, and application requirements; component reusability;, device interface standards This report elaborates on these key points, proposes research challenges that are to be addressed by a joint effort between academic, industry, and NIH participants

}, keywords = {adverse effects/instrumentation/trends, Algorithms, Computational Biology, Computer Systems, Computer-Assisted, Humans, instrumentation/trends, Knowledge Bases, Models, National Institutes of Health (U S ), Neurosurgical Procedures, Organizational, Outcome Assessment (Health Care), Reproducibility of Results, Robotics, Software, Surgery, Treatment Outcome, United States}, doi = {10 1016/j neuroimage 2007 04 026}, url = {http://dx doi org/10 1016/j neuroimage 2007 04 026}, author = {Simon DiMaio and Tina Kapur and Kevin Cleary and Stephen Aylward and Peter Kazanzides and Kirby Vosburgh and Randy Ellis and James Duncan and Keyvan Farahani and Heinz Lemke and T. M. Peters and William Bill Lorensen and David Gobbi and John Haller and Laurence Larry Clarke and Stephen Pizer and Russell H. Taylor and Robert L. Galloway, Jr. and Gabor Fichtinger and Nobuhiko Hata and Kimberly Lawson and Clare M Tempany and Ron Kikinis and Ferenc Jolesz} } @conference {Burkhardt2007, title = {A cheap and easy method for 3D C-arm reconstruction using elliptic curves}, booktitle = {Medical Imaging 2007: Visualization and Image-Guided Procedures}, volume = {6509}, number = {1}, year = {2007}, pages = {65090B}, publisher = {SPIE}, organization = {SPIE}, doi = {10 1117/12 712395}, url = {http://link aip org/link/?PSI/6509/65090B/1}, author = {David Burkhardt and Ameet K. Jain and Gabor Fichtinger}, editor = {Kevin Cleary and Michael I. Miga} } @article {Krieger2007a, title = {Design and preliminary accuracy studies of an MRI-guided transrectal prostate intervention system}, journal = {Medical image computing and computer-assisted intervention (MICCAI)}, volume = {10}, number = {Pt 2}, year = {2007}, pages = {59{\textendash}67}, publisher = {Department of Mechanical Engineering, Johns Hopkins University, Baltimore, USA}, abstract = {

This paper reports a novel system for magnetic resonance imaging (MRI) guided transrectal prostate interventions, such as needle biopsy, fiducial marker placement, and therapy delivery The system utilizes a hybrid tracking method, comprised of passive fiducial tracking for initial registration, subsequent incremental motion measurement along the degrees of freedom using fiber-optical encoders, mechanical scales Targeting accuracy of the system is evaluated in prostate phantom experiments Achieved targeting accuracy, procedure times were found to compare favorably with existing systems using passive, active tracking methods Moreover, the portable design of the system using only standard MRI image sequences, minimal custom scanner interfacing allows the system to be easily used on different MRI scanners

}, keywords = {Algorithms, Artificial Intelligence, Automated, Biopsy, Computer-Assisted, Equipment Design, Equipment Failure Analysis, Humans, Image Enhancement, Image Interpretation, Imaging, instrumentation/methods, Interventional, Magnetic Resonance Imaging, Male, methods, Needle, pathology/surgery, Pattern Recognition, Pilot Projects, Prostatectomy, Prostatic Neoplasms, Rectum, Reproducibility of Results, Robotics, Sensitivity, Specificity, Three-Dimensional, User-Computer Interface}, author = {Axel Krieger and Csaba Csoma and Iulian Iordachita and Peter Guion and Anurag K. Singh and Gabor Fichtinger and Whitcomb, Louis L.} } @article {Kazanzides2007, title = {Development of an image-guided robot for small animal research}, journal = {Journal of Computer Aided Surgery}, volume = {12}, number = {6}, year = {2007}, month = {Nov}, pages = {357{\textendash}365}, publisher = {Department of Computer Science, The Johns Hopkins University, Baltimore, Maryland 21218, USA pkaz@jhu edu}, abstract = {

We developed a robot system that can be used for image-guided experimental procedures on small animals, where the goal is to perform physical actions at specific positions identified on a preoperative image The animal is first placed in a fixture that is compatible with all imaging systems of interest, including PET, SPECT, CT, MRI After imaging, the fixture is attached, registered to the robot system, where the image-guided intervention is performed This system has been applied to perform pO(2) measurements with physical probes based on tumor hypoxia images obtained in an animal PET scanner This paper focuses on the design, validation of the robot system The validation is performed using a phantom, includes a new method for estimating the Fiducial Localization Error (FLE) that is based on the measured Fiducial Distance Error (FDE) The results indicate that the robot system can position the measurement probe at a defined target with a mean error that is less than 0 4 mm

}, keywords = {Algorithms, analysis, Animals, Imaging, Laboratory, methods, Oxygen, Partial Pressure, Phantoms, Positron-Emission Tomography, Robotics}, doi = {10 1080/10929080701732538}, url = {http://dx doi org/10 1080/10929080701732538}, author = {Peter Kazanzides and Jenghwa Chang and Iulian Iordachita and Jack Li and Clifton Ling and Gabor Fichtinger} } @article {DiMaio2007, title = {Dynamic MRI scan plane control for passive tracking of instruments and devices}, journal = {Medical image computing and computer-assisted intervention (MICCAI)}, volume = {10}, number = {Pt 2}, year = {2007}, pages = {50{\textendash}58}, publisher = {Brigham, Women{\textquoteright}s Hospital, Harvard Medical School, Boston, MA, USA}, abstract = {

This paper describes a novel image-based method for tracking robotic mechanisms, interventional devices during Magnetic Resonance Image (MRI)-guided procedures It takes advantage of the multi-planar imaging capabilities of MRI to optimally image a set of localizing fiducials for passive motion tracking in the image coordinate frame The imaging system is servoed to adaptively position the scan plane based on automatic detection, localization of fiducial artifacts directly from the acquired image stream This closed-loop control system has been implemented using an open-source software framework, currently operates with GE MRI scanners Accuracy, performance were evaluated in experiments, the results of which are presented here

}, keywords = {Algorithms, Anatomy, Artificial Intelligence, Automated, Computer-Assisted, Cross-Sectional, Humans, Image Enhancement, Image Interpretation, Imaging, instrumentation/methods, Magnetic Resonance Imaging, methods, Pattern Recognition, Phantoms, Reproducibility of Results, Robotics, Sensitivity, Specificity, Surgery, Three-Dimensional, User-Computer Interface}, author = {Simon DiMaio and Eigil Samset and Gregory Fischer and Iulian Iordachita and Gabor Fichtinger and Ferenc Jolesz and Clare M Tempany} } @conference {Song2007, title = {Early Results of a Feasibility Study of Registered Fluoroscopy and Ultrasound for Permanent Interstitial Prostate Brachytherapy}, booktitle = {49th Annual Meeting of American Association of Therapeutic Radiology and Oncology}, year = {2007}, author = {Danny Y Song and Anton Degeut and Ameet K. Jain and Elwood Armour and Le Yi and Jack Blevins and Iulian Iordachita and E. Clif Burdette and Gabor Fichtinger} } @conference {Song2007a, title = {Early Results of a Feasibility Study of Registered Fluoroscopy and Ultrasound for Permanent Interstitial Prostate Brachytherapy}, booktitle = {Innovative Minds in Prostate Cancer Today - IMPaCT}, year = {2007}, author = {Danny Y Song and Anton Degeut and Ameet K. Jain and Elwood Armour and Le Yi and Jack Blevins and Iulian Iordachita and E. Clif Burdette and Gabor Fichtinger} } @conference {Fischer2007c, title = {Evaluation of MR Image Overlay for Spinal Interventions}, booktitle = {International Society for Magnetic Resonance in Medicine 15th Scientific Meeting - ISMRM}, year = {2007}, pages = {3394}, author = {Gregory Fischer and Clifford Weiss and Eva Dyer and Csaba Csoma and Anton Degeut and John A Carrino and Gabor Fichtinger} } @conference {Krupa2007c, title = {Full Motion Tracking in Ultrasound Using Image Speckle Information and Visual Servoing}, booktitle = {Procedings IEEE International Conference on Robotics and Automation}, year = {2007}, month = {10{\textendash}14 April}, pages = {2458{\textendash}2464}, doi = {10 1109/ROBOT 2007 363688}, author = {Alexandre Krupa and Gabor Fichtinger and Gregory D. Hager} } @article {Jain2007, title = {Intra-operative 3D guidance in prostate brachytherapy using a non-isocentric C-arm}, journal = {Medical image computing and computer-assisted intervention (MICCAI)}, volume = {10}, number = {Pt 2}, year = {2007}, pages = {9{\textendash}17}, publisher = {Johns Hopkins University, USA}, abstract = {

Intra-operative guidance in Transrectal Ultrasound (TRUS) guided prostate brachytherapy requires localization of inserted radioactive seeds relative to the prostate Seeds were reconstructed using a typical C-arm, and exported to a commercial brachytherapy system for dosimetry analysis Technical obstacles for 3D reconstruction on a non-isocentric C-arm included pose-dependent C-arm calibration; distortion correction; pose estimation of C-arm images; seed reconstruction;, C-arm to TRUS registration In precision-machined hard phantoms with 40-100 seeds, we correctly reconstructed 99 8\% seeds with a mean 3D accuracy of 0 68 mm In soft tissue phantoms with 45-87 seeds, clinically realistic 15 degrees C-arm motion, we correctly reconstructed 100\% seeds with an accuracy of 1 3 mm The reconstructed 3D seed positions were then registered to the prostate segmented from TRUS In a Phase-1 clinical trial, so far on 4 patients with 66-84 seeds, we achieved intra-operative monitoring of seed distribution, dosimetry We optimized the 100\% prescribed iso-dose contour by inserting an average of 3 75 additional seeds, making intra-operative dosimetry possible on a typical C-arm, at negligible additional cost to the existing clinical installation

}, keywords = {Algorithms, Brachytherapy, Computer-Assisted, Equipment Design, Equipment Failure Analysis, Humans, Imaging, instrumentation/methods, Interventional, Intraoperative Care, Male, methods, Prostatic Neoplasms, Prosthesis Implantation, Radiographic Image Enhancement, Radiographic Image Interpretation, Radiography, radiography/radiotherapy, Radiotherapy, Reproducibility of Results, Sensitivity, Specificity, Three-Dimensional, Tomography, X-Ray Computed}, author = {Ameet K. Jain and Anton Degeut and Iulian Iordachita and Gouthami Chintalapani and Jack Blevins and Le Yi and Elwood Armour and E. Clif Burdette and Danny Y Song and Gabor Fichtinger} } @conference {Jain2007c, title = {Intra-operative dosimetry optimization of TRUS-guided prostate brachytherapy requires localization of seeds relative to the prostate}, booktitle = {Innovative Minds in Prostate Cancer Today - IMPaCT}, year = {2007}, author = {Ameet K. Jain and Anton Degeut and Iulian Iordachita and Gouthami Chintalapani and Jack Blevins and Le Yi and Elwood Armour and E. Clif Burdette and Danny Y Song and Gabor Fichtinger} } @article {Fischer2007, title = {MRI image overlay: application to arthrography needle insertion}, journal = {Journal of Computer Aided Surgery}, volume = {12}, number = {1}, year = {2007}, month = {Jan}, pages = {2{\textendash}14}, publisher = {Engineering Research Center, Johns Hopkins University, Baltimore, Maryland, USA gfisch@jhu edu}, abstract = {

Magnetic Resonance Imaging (MRI) offers great potential for planning, guiding, monitoring, controlling interventions MR arthrography (MRAr) is the imaging gold standard for assessing small ligament, fibrocartilage injury in joints In contemporary practice, MRAr consists of two consecutive sessions: (1) an interventional session where a needle is driven to the joint space, MR contrast is injected under fluoroscopy or CT guidance;, (2) a diagnostic MRI imaging session to visualize the distribution of contrast inside the joint space, evaluate the condition of the joint Our approach to MRAr is to eliminate the separate radiologically guided needle insertion, contrast injection procedure by performing those tasks on conventional high-field closed MRI scanners We propose a 2D augmented reality image overlay device to guide needle insertion procedures This approach makes diagnostic high-field magnets available for interventions without a complex, expensive engineering entourage In preclinical trials, needle insertions have been performed in the joints of porcine, human cadavers using MR image overlay guidance; in all cases, insertions successfully reached the joint space on the first attempt

}, keywords = {Arthrography, Cartilage, Contrast Media, diagnosis, Humans, injuries, instrumentation, Joint Diseases, Ligaments, Magnetic Resonance Imaging, Needles}, doi = {10 1080/10929080601169930}, url = {http://dx doi org/10 1080/10929080601169930}, author = {Gregory Fischer and Anton Degeut and Csaba Csoma and Russell H. Taylor and Laura Fayad and John A Carrino and James Zinreich and Gabor Fichtinger} } @conference {Fichtinger2007, title = {New approaches to calibration and segmentation in interventional ultrasound}, booktitle = {Procedings 4th IEEE International Symposium on Biomedical Imaging: From Nano to Macro ISBI 2007}, year = {2007}, month = {12{\textendash}15 April}, pages = {1060{\textendash}1063}, doi = {10 1109/ISBI 2007 357038}, author = {Gabor Fichtinger and Emad Boctor and Gregory D. Hager} } @conference {Foroughi2007, title = {P6D-2 Ultrasound Bone Segmentation Using Dynamic Programming}, booktitle = {Procedings IEEE Ultrasonics Symposium}, year = {2007}, month = {28{\textendash}31 Oct}, pages = {2523{\textendash}2526}, doi = {10 1109/ULTSYM 2007 635}, author = {Pezhman Foroughi and Emad Boctor and Michael Swartz and Russell H. Taylor and Gabor Fichtinger} } @article {Singh2007a, title = {Patient selection determines the prostate cancer yield of dynamic contrast-enhanced magnetic resonance imaging-guided transrectal biopsies in a closed 3-Tesla scanner}, journal = {British Journal of Urology international}, volume = {101}, number = {2}, year = {2007}, month = {Jan}, pages = {181{\textendash}185}, publisher = {Radiation Oncology Branch, National Cancer Institute, National Institutes of Health, Bethesda, MD 20892-1642, USA Anurag Singh@RoswellPark org}, abstract = {

OBJECTIVE: To evaluate the cancer yield of transrectal prostate biopsies in a 3-T magnetic resonance imaging (MRI) scanner in patients with elevated prostate specific antigen (PSA) levels, recent negative transrectal ultrasonography (TRUS)-guided prostate biopsies PATIENTS AND METHODS: Between July 2004, November 2005, patients with at least one previous negative prostate biopsy within the previous 12 months had MRI-guided biopsy of the prostate in a 3-T MRI scanner Patients with previous positive biopsies for cancer were excluded Target selection was based on T2-weighted imaging, dynamic contrast-enhanced (DCE) imaging studies RESULTS: Thirteen patients were eligible; their median (range) age was 61 (47-74) years, PSA value 4 90 (1 3-12 3) ng/mL Most patients had one previous negative biopsy (range 1-4) Four patients had a family history of prostate cancer There were 37 distinct targets based on T2-weighted imaging Fifteen of 16 distinct DCE abnormalities were co-localized with a target based on T2-weighted imaging Despite this correlation, only one of 13 patients had a directed biopsy positive for cancer Including systematic biopsies, two of 13 patients had a biopsy positive for prostate cancer One patient had prostate intraepithelial neoplasia, one had atypical glands in the specimen CONCLUSION: The prostate-cancer yield of transrectal biopsies in a 3-T MRI scanner, among patients with recent negative TRUS-guided prostate biopsies, is similar to repeat systematic TRUS-guided biopsy DCE correlates with T2-imaging but does not appear to improve prostate cancer yield in this population

}, keywords = {Aged, Biopsy, blood, Cohort Studies, Contrast Media, diagnosis, Digital Rectal Examination, Humans, Interventional, Magnetic Resonance Imaging, Male, methods, Middle Aged, Needle, pathology, Patient Selection, Predictive Value of Tests, Prostate, Prostate-Specific Antigen, Prostatic Neoplasms, Sensitivity, Specificity, standards, Ultrasonography}, doi = {10 1111/j 1464-410X 2007 07219 x}, url = {http://dx doi org/10 1111/j 1464-410X 2007 07219 x}, author = {Anurag K. Singh and Axel Krieger and Jean-Baptiste Lattouf and Peter Guion and R.L. Grubb III and Paul Albert and Greg Metzger and Karen Ullman and Sharon Smith and Gabor Fichtinger and Iclal Ocak and Peter Choyke and Cynthia Menard and Jonathan Coleman} } @conference {Krieger2007, title = {Phantom Experiments with a Novel MR-Guided Transrectal Prostate Interventional System}, booktitle = {International Society of Magnetic Resonance in Medicine (ISMRM)}, year = {2007}, author = {Axel Krieger and Csaba Csoma and Peter Guion and Iulian Iordachita and Greg Metzger and Di Qian and Anurag K. Singh and Whitcomb, Louis L. and Gabor Fichtinger} } @article {Liu2007, title = {Prostate implant reconstruction with discrete tomography}, journal = {Medical image computing and computer-assisted intervention (MICCAI)}, volume = {10}, number = {Pt 1}, year = {2007}, pages = {734{\textendash}742}, publisher = {Department of Computer Science, Johns Hopkins University, Baltimore, MD, USA}, abstract = {

We developed a discrete tomography method for prostate implant reconstructions using only a limited number of X-ray projection images A 3D voxel volume is reconstructed by back-projection, using distance maps generated from the projection images The true seed locations are extracted from the voxel volume while false positive seeds are eliminated using a novel optimal geometry coverage model The attractive feature of our method is that it does not require exact seed segmentation of the X-ray images, it yields near 100\% correct reconstruction from only six images with an average reconstruction accuracy of 0 86 mm (std = 0 46mm)

}, keywords = {Brachytherapy, Computer-Assisted, Humans, Imaging, instrumentation/methods, Male, methods, Prostatic Neoplasms, Prosthesis Implantation, Radiographic Image Enhancement, Radiographic Image Interpretation, radiography/radiotherapy, Three-Dimensional}, author = {Xiaofeng Liu and Ameet K. Jain and Gabor Fichtinger} } @article {Krupa2007a, title = {Real-time 6 DOF Tissue Tracking with B-Mode Ultrasound Using Speckle and Visual Servoing}, journal = {Medical Image Computing and Computer-Assisted Intervention (MICCAI) Proceedings in Lecture Notes in Computer Science}, volume = {4792}, year = {2007}, pages = {1-8}, author = {Alexandre Krupa and Gabor Fichtinger and Gregory D. Hager} } @article {Krupa2007, title = {Real-time tissue tracking with B-mode ultrasound using speckle and visual servoing}, journal = {Tenth International Conference on Medical Image Computing and Computer-Assisted Intervention (MICCAI)}, volume = {10}, number = {Pt 2}, year = {2007}, pages = {1{\textendash}8}, publisher = {IRISA - INRIA Rennes, France alexandre krupa@irisa fr}, abstract = {

We present a method for real-time tracking of moving soft tissue with B-mode ultrasound (US) The method makes use of the speckle information contained in the US images to estimate the in-plane, out-of-plane motion of a fixed target relative to the ultrasound scan plane The motion information is then used as closed-loop feedback to a robot which corrects for the target motion The concept is demonstrated for translation motions in an experimental setup consisting of an ultrasound speckle phantom, a robot for simulating tissue motion, and a robot that performs motion stabilization from US images This concept shows promise for US-guided procedures that require real-time motion tracking, compensation

}, keywords = {Algorithms, Artificial Intelligence, Computer Systems, Computer-Assisted, Equipment Design, Equipment Failure Analysis, Image Enhancement, Image Interpretation, Imaging, instrumentation/methods, Interventional, methods, Pilot Projects, Reproducibility of Results, Robotics, Sensitivity, Specificity, Surgery, Three-Dimensional, Ultrasonography, User-Computer Interface}, author = {Alexandre Krupa and Gabor Fichtinger and Gregory D. Hager} } @article {DiMaio2007a, title = {Robot-assisted needle placement in open MRI: system architecture, integration and validation}, journal = {Journal of Computer Aided Surgery}, volume = {12}, number = {1}, year = {2007}, month = {Jan}, pages = {15{\textendash}24}, publisher = {Brigham, Women{\textquoteright}s Hospital, Harvard Medical School, Boston, Massachusetts 02115, USA simond@bwh harvard edu}, abstract = {

In prostate cancer treatment, there is a move toward targeted interventions for biopsy, therapy, which has precipitated the need for precise image-guided methods for needle placement This paper describes an integrated system for planning, performing percutaneous procedures with robotic assistance under MRI guidance A graphical planning interface allows the physician to specify the set of desired needle trajectories, based on anatomical structures, lesions observed in the patient{\textquoteright}s registered pre-operative, pre-procedural MR images, immediately prior to the intervention in an open-bore MRI scanner All image-space coordinates are automatically computed, and are used to position a needle guide by means of an MRI-compatible robotic manipulator, thus avoiding the limitations of the traditional fixed needle template Automatic alignment of real-time intra-operative images aids visualization of the needle as it is manually inserted through the guide Results from in-scanner phantom experiments are provided

}, keywords = {Biopsy, diagnosis, Humans, instrumentation/methods, Magnetic Resonance Imaging, Male, Needle, Neuronavigation, Prostatic Neoplasms, Robotics}, doi = {10 1080/10929080601168254}, url = {http://dx doi org/10 1080/10929080601168254}, author = {Simon DiMaio and Steve Pieper and Kiyoyuki Chinzei and Nobuhiko Hata and Steven Haker and Daniel Kacher and Gabor Fichtinger and Clare M Tempany and Ron Kikinis} } @article {Fichtinger2007c, title = {Robotic assistance for ultrasound guided prostate brachytherapy}, journal = {Medical Image Computing and Computer-Assisted Intervention (MICCAI)}, volume = {4791}, year = {2007}, pages = {119{\textendash}127}, publisher = {The Johns Hopkins University, Baltimore, Maryland, USA gabor@cs jhu edu}, abstract = {

We present a robotically assisted prostate brachytherapy system, test results in training phantoms The system consists of a transrectal ultrasound (TRUS), a spatially co-registered robot integrated with an FDA-approved commercial treatment planning system The salient feature of the system is a small parallel robot affixed to the mounting posts of the template The robot replaces the template interchangeably, uses the same coordinate system Established clinical hardware, workflow, calibration are left intact In these experiments, we recorded the first insertion attempt without adjustment All clinically relevant locations were reached Non-parallel needle trajectories were achieved The pre-insertion transverse, rotational errors (measured with Polaris optical tracker relative to the template{\textquoteright}s coordinate frame) were 0 25mm (STD = 0 17mm), 0 75 degrees (STD = 0 37 degrees) The needle tip placement errors measured in TRUS were 1 04mm (STD = 0 50mm) The system is in Phase-I clinical feasibility, safety trials, under Institutional Review Board approval

}, keywords = {Brachytherapy, Computer-Assisted, Equipment Design, Equipment Failure Analysis, Humans, instrumentation/methods, Interventional, Male, Prostatic Neoplasms, Radiotherapy, Radiotherapy Planning, radiotherapy/ultrasonography, Robotics, Ultrasonography}, author = {Gabor Fichtinger and Jonathan Fiene and Christopher Kennedy and Gernot Kronreif and Iulian Iordachita and Danny Y Song and E. Clif Burdette and Peter Kazanzides} } @conference {Fichtinger2007d, title = {Robotic Assistance for Ultrasound Guided Prostate Brachytherapy}, booktitle = {The Fourth AdMeTech Foundation Conference: Ending the Era of Blind Cancer Care \& Creating a Future of Image-Guided, Minimally Invasive Diagnosis \& Treatment}, year = {2007}, author = {Gabor Fichtinger and Jonathan Fiene and Christopher Kennedy and Iulian Iordachita and Gernot Kronreif and Danny Y Song and E. Clif Burdette and Peter Kazanzides} } @article {Fischer2007b, title = {Robotic assistant for transperineal prostate interventions in 3T closed MRI}, journal = {Medical image computing and computer-assisted intervention (MICCAI)}, volume = {10}, number = {Pt 1}, year = {2007}, pages = {425{\textendash}433}, publisher = {Center for Computer Integrated Surgery, Johns Hopkins University, USA gfischer@jhu edu}, abstract = {

Numerous studies have demonstrated the efficacy of image-guided needle-based therapy, biopsy in the management of prostate cancer The accuracy of traditional prostate interventions performed using transrectal ultrasound (TRUS) is limited by image fidelity, needle template guides, needle deflection, tissue deformation Magnetic Resonance Imaging (MRI) is an ideal modality for guiding, monitoring such interventions due to its excellent visualization of the prostate, its sub-structure, surrounding tissues We have designed a comprehensive robotic assistant system that allows prostate biopsy, brachytherapy procedures to be performed entirely inside a 3T closed MRI scanner We present a detailed design of the robotic manipulator, an evaluation of its usability, MR compatibility

}, keywords = {anatomy /\&/ histology/surgery, Computer-Assisted, Equipment Design, Equipment Failure Analysis, Image Interpretation, instrumentation/methods, Interventional, Magnetic Resonance Imaging, Perineum, Prostatectomy, Robotics, Surgery}, author = {Gregory Fischer and Simon DiMaio and Iulian Iordachita and Gabor Fichtinger} } @conference {Rivaz2007a, title = {A robust meshing and calibration approach for sensorless freehand 3D ultrasound}, booktitle = {Medical Imaging 2007: Ultrasonic Imaging and Signal Processing}, volume = {6513}, number = {1}, year = {2007}, pages = {651318}, publisher = {SPIE}, organization = {SPIE}, doi = {10 1117/12 712423}, url = {http://link aip org/link/?PSI/6513/651318/1}, author = {Hassan Rivaz and Emad Boctor and Gabor Fichtinger} } @article {Singh2007b, title = {Simultaneous integrated boost of biopsy proven and MRI defined dominant intra-prostatic lesions to 95 Gray with IMRT: early results of a phase I NCI study}, journal = {Radiation Oncology}, volume = {2}, year = {2007}, pages = {36}, publisher = {Department of Radiation Medicine, Roswell Park Cancer Institute, Buffalo, USA singhanu@yahoo com}, abstract = {

BACKGROUND: To assess the feasibility, early toxicity of selective, IMRT-based dose escalation (simultaneous integrated boost) to biopsy proven dominant intra-prostatic lesions visible on MRI METHODS: Patients with localized prostate cancer, an abnormality within the prostate on endorectal coil MRI were eligible All patients underwent a MRI-guided transrectal biopsy at the location of the MRI abnormality Gold fiducial markers were also placed Several days later patients underwent another MRI scan for fusion with the treatment planning CT scan This fused MRI scan was used to delineate the region of the biopsy proven intra-prostatic lesion A 3 mm expansion was performed on the intra-prostatic lesions, defined as a separate volume within the prostate The lesion + 3 mm, the remainder of the prostate + 7 mm received 94 5/75 6 Gray (Gy) respectively in 42 fractions Daily seed position was verified to be within 3 mm RESULTS: Three patients were treated Follow-up was 18, 6, and 3 months respectively Two patients had a single intra-prostatic lesion One patient had 2 intra-prostatic lesions All four intra-prostatic lesions, with margin, were successfully targeted, treated to 94 5 Gy Two patients experienced acute RTOG grade 2 genitourinary (GU) toxicity One had grade 1 gastrointestinal (GI) toxicity All symptoms completely resolved by 3 months One patient had no acute toxicity CONCLUSION: These early results demonstrate the feasibility of using IMRT for simultaneous integrated boost to biopsy proven dominant intra-prostatic lesions visible on MRI The treatment was well tolerated

}, keywords = {adverse effects/methods, Biopsy, epidemiology, epidemiology/radiotherapy, Follow-Up Studies, Humans, Intensity-Modulated, Magnetic Resonance Imaging, Male, National Cancer Institute (U S ), Patient Selection, Prostatic Neoplasms, Questionnaires, Radiotherapy, Radiotherapy Dosage, United States}, doi = {10 1186/1748-717X-2-36}, url = {http://dx doi org/10 1186/1748-717X-2-36}, author = {Anurag K. Singh and Peter Guion and Nancy Sears-Crouse and Karen Ullman and Sharon Smith and Paul Albert and Gabor Fichtinger and Peter Choyke and Sheng Xu and Jochen Kruecker and Bradford Wood and Axel Krieger and Holly Ning} } @conference {Rivaz2007d, title = {Speckle Characterization And Out-Of-Plane Motion Estimation In Tissue}, booktitle = {Sixth International Conference on the Ultrasonic Measurement and Imaging of Tissue Elasticity}, year = {2007}, author = {Hassan Rivaz and Gregory D. Hager and Richard Zellars and Gabor Fichtinger and Emad Boctor} } @article {Zhan2007, title = {Targeted Prostate Biopsy Using Statistical Image Analysis}, journal = {IEEE transactions on medical imaging}, volume = {26}, number = {6}, year = {2007}, month = {June}, pages = {779{\textendash}788}, doi = {10 1109/TMI 2006 891497}, author = {Yiqiang Zhan and Dinggang Shen and Jianchao Zeng and Leon Sun and Gabor Fichtinger and Judd Moul and Christos Davatzikos} } @article {Labat2007, title = {Toward optimal matching for 3D reconstruction of brachytherapy seeds}, journal = {Medical image computing and computer-assisted intervention (MICCAI)}, volume = {10}, number = {Pt 2}, year = {2007}, pages = {701{\textendash}709}, publisher = {Department of Computer Science, Johns Hopkins University, Baltimore, MD 21218, USA}, abstract = {

X-ray C-arm fluoroscopy is a natural choice for intra-operative seed localization in prostate brachytherapy Resolving the correspondence of seeds in the projection images can be modeled as an assignment problem that is NP-hard Our approach rests on the practical observation that the optimal solution has almost zero cost if the pose of the C-arm is known accurately This allowed us to to derive an equivalent problem of reduced dimensionality that, with linear programming, can be solved efficiently in polynomial time Additionally, our method demonstrates significantly increased robustness to C-arm pose errors when compared to the prior art Because under actual clinical circumstances it is exceedingly difficult to track the C-arm, easing on this constraint has additional practical utility

}, keywords = {Algorithms, Artificial Intelligence, Automated, Brachytherapy, Computer-Assisted, Image Enhancement, Image Interpretation, Imaging, instrumentation/methods, methods, Pattern Recognition, Phantoms, Prosthesis Implantation, Radiotherapy, Reproducibility of Results, Sensitivity, Specificity, Three-Dimensional, Tomography, X-Ray Computed}, author = {Christian Labat and Ameet K. Jain and Gabor Fichtinger and Jerry L. Prince} } @conference {Rivaz2007b, title = {Toward Real-Time 2d Ultrasound Elastography Using Global Optimization Of A Regularized Displacement Field}, booktitle = {Sixth International Conference on the Ultrasonic Measurement and Imaging of Tissue Elasticity}, year = {2007}, author = {Hassan Rivaz and Pezhman Foroughi and Emad Boctor and Richard Zellars and Gabor Fichtinger and Gregory D. Hager} } @article {Blumenfeld2007, title = {Transperineal prostate biopsy under magnetic resonance image guidance: a needle placement accuracy study}, journal = {Journal of magnetic resonance imaging}, volume = {26}, number = {3}, year = {2007}, month = {Sep}, pages = {688{\textendash}694}, publisher = {Department of Radiology, Brigham, Women{\textquoteright}s Hospital, Harvard Medical School, Boston, Massachusetts, USA}, abstract = {

PURPOSE: To quantify needle placement accuracy of magnetic resonance image (MRI)-guided core needle biopsy of the prostate MATERIALS AND METHODS: A total of 10 biopsies were performed with 18-gauge (G) core biopsy needle via a percutaneous transperineal approach Needle placement error was assessed by comparing the coordinates of preplanned targets with the needle tip measured from the intraprocedural coherent gradient echo images The source of these errors was subsequently investigated by measuring displacement caused by needle deflection, needle susceptibility artifact shift in controlled phantom studies Needle placement error due to misalignment of the needle template guide was also evaluated RESULTS: The mean, standard deviation (SD) of errors in targeted biopsies was 6 5 +/- 3 5 mm Phantom experiments showed significant placement error due to needle deflection with a needle with an asymmetrically beveled tip (3 2-8 7 mm depending on tissue type) but significantly smaller error with a symmetrical bevel (0 6-1 1 mm) Needle susceptibility artifacts observed a shift of 1 6 +/- 0 4 mm from the true needle axis Misalignment of the needle template guide contributed an error of 1 5 +/- 0 3 mm CONCLUSION: Needle placement error was clinically significant in MRI-guided biopsy for diagnosis of prostate cancer Needle placement error due to needle deflection was the most significant cause of error, especially for needles with an asymmetrical bevel

}, keywords = {Aged, Artifacts, Biopsy, Contrast Media, diagnosis/pathology, Humans, Imaging, Magnetic Resonance Imaging, Magnetic Resonance Spectroscopy, Male, methods, Middle Aged, Needle, Needles, Phantoms, pharmacology, Prostatectomy, Prostatic Neoplasms, Reproducibility of Results, Retrospective Studies}, doi = {10 1002/jmri 21067}, url = {http://dx doi org/10 1002/jmri 21067}, author = {Philip Blumenfeld and Nobuhiko Hata and Simon DiMaio and Kelly Zou and Steven Haker and Gabor Fichtinger and Clare M Tempany} } @conference {Rivaz2007c, title = {Ultrasound Elastography: a Dynamic Programming Approach}, booktitle = {Workshop to the 10th MICCAI Conference}, year = {2007}, author = {Hassan Rivaz and Pezhman Foroughi and Emad Boctor and Richard Zellars and Gabor Fichtinger and Gregory D. Hager} } @article {Fischer2007a, title = {Validation system of MR image overlay and other needle insertion techniques}, journal = {Studies in health technology and informatics}, volume = {125}, year = {2007}, pages = {130{\textendash}135}, publisher = {Engineering Research Center, Johns Hopkins University, Baltimore, MD, USA}, abstract = {

In order to develop accurate, effective augmented reality (AR) systems used in MR, CT guided needle placement procedures, a comparative validation environment is necessary Clinical equipment is prohibitively expensive, often inadequate for precise measurement Therefore, we have developed a laboratory validation system for measuring operator performance using different assistance techniques Electromagnetically tracked needles are registered with the preoperative plan to measure placement accuracy, the insertion path The validation system provides an independent measure of accuracy that can be applied to varying methods of assistance ranging from augmented reality guidance methods to tracked navigation systems, autonomous robots In preliminary studies, this validation system is used to evaluate the performance of the image overlay, bi-plane laser guide, and traditional freehand techniques

}, keywords = {Computer Simulation, Magnetic Resonance Imaging, Needles, Reproducibility of Results, Tomography, United States, X-Ray Computed}, author = {Gregory Fischer and Eva Dyer and Csaba Csoma and Anton Degeut and Gabor Fichtinger} } @conference {Krieger2006a, title = {Accuracy of Hybrid Tracking for a Novel MR-Guided Transrectal Prostate Interventional Device}, booktitle = {6th Interventional MRI Symposium}, year = {2006}, pages = {143-145}, author = {Axel Krieger and Iulian Iordachita and Greg Metzger and Peter Guion and Ergin Atalar and Gabor Fichtinger and Whitcomb, Louis L.} } @article {Vikal2006, title = {Automated Segmentation of Radiographic Fiducials for C-Arm Tracking}, journal = {Journal of Medical Physics}, volume = {33}, number = {6}, year = {2006}, pages = {2208-2208}, publisher = {AAPM}, doi = {10 1118/1 2241601}, url = {http://link aip org/link/?MPH/33/2208/3}, author = {Siddharth Vikal and Ameet K. Jain and Anton Degeut and Danny Y Song and Gabor Fichtinger} } @article {Boctor2006a, title = {Bootstrapped ultrasound calibration}, journal = {Studies in health technology and informatics}, volume = {119}, year = {2006}, pages = {61{\textendash}66}, publisher = {Engineering Research Center, Johns Hopkins University, USA}, abstract = {

This paper introduces an enhanced (bootstrapped) method for tracked ultrasound probe calibration Prior to calibration, a position sensor is used to track an ultrasound probe in 3D space, while the US image is used to determine calibration target locations within the image From this information, an estimate of the transformation matrix of the scan plane with respect to the position sensor is computed While all prior calibration methods terminate at this phase, we use this initial calibration estimate to bootstrap an additional optimization of the transformation matrix on independent data to yield the minimum reconstruction error on calibration targets The bootstrapped workflow makes use of a closed-form calibration solver, associated sensitivity analysis, allowing for rapid, robust convergence to an optimal calibration matrix Bootstrapping demonstrates superior reconstruction accuracy

}, keywords = {Calibration, Imaging, standards, Three-Dimensional, Ultrasonography, United States}, author = {Emad Boctor and Iulian Iordachita and Michael Choti and Gregory D. Hager and Gabor Fichtinger} } @article {Jain2006a, title = {C-arm tracking and reconstruction without an external tracker}, journal = {Medical image computing and computer-assisted intervention (MICCAI)}, volume = {9}, number = {Pt 1}, year = {2006}, pages = {494{\textendash}502}, publisher = {Department of Computer Science, Johns Hopkins University, USA}, abstract = {

For quantitative C-arm fluoroscopy, we have developed a unified mathematical framework to tackle the issues of intra-operative calibration, pose estimation, correspondence, reconstruction, without the use of optical/electromagnetic trackers or precision-made fiducial fixtures Our method uses randomly distributed unknown points in the imaging volume, either naturally present or induced by randomly sticking beads or other simple markers in the image pace After these points are segmented, a high dimensional non-linear optimization computes all unknown parameters for calibration, C-arm pose, correspondence, reconstruction Preliminary phantom experiments indicate an average C-arm tracking accuracy of 0 9 degrees, a 3D reconstruction error of 0 8 mm, with an 80 region of convergence for both the AP, lateral axes The method appears to be sufficiently accurate for many clinical applications, and appealing since it works without any external instrumentation, does not interfere with the workspace

}, keywords = {Algorithms, Calibration, Computer-Assisted, Equipment Design, Equipment Failure Analysis, Fluoroscopy, Imaging, instrumentation/methods, methods, Radiographic Image Enhancement, Radiographic Image Interpretation, Reproducibility of Results, Sensitivity, Specificity, Three-Dimensional}, author = {Ameet K. Jain and Gabor Fichtinger} } @conference {Xu2006, title = {CT fluoroscopy-guided robotically-assisted lung biopsy}, booktitle = {Medical Imaging 2006: Visualization, Image-Guided Procedures, and Display}, volume = {6141}, number = {1}, year = {2006}, pages = {61411L}, publisher = {SPIE}, organization = {SPIE}, doi = {10 1117/12 652882}, url = {http://link aip org/link/?PSI/6141/61411L/1}, author = {Sheng Xu and Gabor Fichtinger and Russell H. Taylor and Filip Banovac and Kevin Cleary}, editor = {Kevin Cleary and Robert L. Galloway, Jr.} } @conference {DiMaio2006c, title = {Design of a Prostate Needle Placement Robot in MRI Scanner}, booktitle = {IEEE International Conference on Biomedical Robotics}, year = {2006}, author = {Simon DiMaio and Gregory Fischer and Steven Haker and Nobuhiko Hata and Iulian Iordachita and Clare M Tempany and Gabor Fichtinger} } @conference {Fischer2006d, title = {Design of a Robot for Transperineal Prostate Needle Placement in MRI Scanner}, booktitle = {Procedings IEEE International Conference on Mechatronics}, year = {2006}, month = {3{\textendash}5 July}, pages = {592{\textendash}597}, doi = {10 1109/ICMECH 2006 252593}, author = {Gregory Fischer and Iulian Iordachita and Simon DiMaio and Gabor Fichtinger} } @article {Kazanzides2006, title = {Design, validation of an image-guided robot for small animal research}, journal = {Medical image computing and computer-assisted intervention (MICCAI)}, volume = {9}, number = {Pt 1}, year = {2006}, pages = {50{\textendash}57}, publisher = {Department of Computer Science, Johns Hopkins University, USA pkaz@jhu edu}, abstract = {

We developed an image-guided robot system to achieve highly accurate placement of thin needles, probes into in-vivo rodent tumor tissue in a predefined pattern that is specified on a preoperative image This system can be used for many experimental procedures where the goal is to correlate a set of physical measurements with a corresponding set of image intensities or, more generally, to perform a physical action at a set of anatomic points identified on a preoperative image This paper focuses on the design, validation of the robot system, where the first application is to insert oxygen measurement probes in a three-dimensional (3D) grid pattern defined with respect to a PET scan of a tumor The design is compatible with CT, MRI, which we plan to use to identify targets for biopsy, for the injection of adenoviral sequences for gene therapy The validation is performed using a phantom, includes a new method for estimating the Fiducial Localization Error (FLE) based on the measured Fiducial Distance Error (FDE)

}, keywords = {Animals, Biopsy, Computer-Assisted, Equipment Design, Equipment Failure Analysis, Imaging, Injections, instrumentation/methods, instrumentation/methods/veterinary, Needle, Phantoms, Positron-Emission Tomography, Research, Robotics, Surgery}, author = {Peter Kazanzides and Jenghwa Chang and Iulian Iordachita and Jack Li and Clifton Ling and Gabor Fichtinger} } @conference {Kon2006, title = {Hidden seed reconstruction from C-arm images in brachytherapy}, booktitle = {Procedings 3rd IEEE International Symposium on Biomedical Imaging: Nano to Macro}, year = {2006}, month = {6{\textendash}9 April}, pages = {526{\textendash}529}, doi = {10 1109/ISBI 2006 1624969}, author = {Ryan Kon and Ameet K. Jain and Gabor Fichtinger} } @conference {Krieger2006, title = {A hybrid method for 6-DOF tracking of MRI-compatible robotic interventional devices}, booktitle = {Procedings IEEE International Conference on Robotics and Automation ICRA 2006}, year = {2006}, month = {15{\textendash}19 May}, pages = {3844{\textendash}3849}, doi = {10 1109/ROBOT 2006 1642290}, author = {Axel Krieger and Greg Metzger and Gabor Fichtinger and Ergin Atalar and Whitcomb, Louis L.} } @conference {Fischer2006h, title = {Image Overlay for MR-Guided Joint Arthrography}, booktitle = {6th Interventional MRI Symposium}, year = {2006}, pages = {240-242}, author = {Gregory Fischer and Anton Degeut and Csaba Csoma and Russell H. Taylor and Laura Fayad and John A Carrino and James Zinreich and Gabor Fichtinger} } @conference {Zhou2006, title = {Incorporating seed orientation in brachytherapy implant reconstruction}, booktitle = {Medical Imaging 2006: Visualization, Image-Guided Procedures, and Display}, volume = {6141}, number = {1}, year = {2006}, pages = {61411H}, publisher = {SPIE}, organization = {SPIE}, doi = {10 1117/12 654171}, url = {http://link aip org/link/?PSI/6141/61411H/1}, author = {Yu Zhou and Ameet K. Jain and Gregory Chirikjian and Gabor Fichtinger}, editor = {Kevin Cleary and Robert L. Galloway, Jr.} } @conference {Fischer2006b, title = {Laser-assisted MRI-guided needle insertion and comparison of techniques}, booktitle = {6th Annual Meeting of the International Society for Computer Assisted Orthopedic Surgery}, year = {2006}, pages = {161-163}, author = {Gregory Fischer and Christina Wamsley and James Zinreich and Gabor Fichtinger} } @article {Xu2006a, title = {Lung deformation estimation and four-dimensional CT lung reconstruction}, journal = {Journal of Academic Radiology}, volume = {13}, number = {9}, year = {2006}, month = {Sep}, pages = {1082{\textendash}1092}, publisher = {Philips Research North America, 345 Scarborough Road, Briarcliff Manor, NY 10510, USA sheng xu@philips com}, abstract = {

RATIONALE AND OBJECTIVES: Four-dimensional (4D) computed tomography (CT) can be used in radiation treatment planning to account for respiratory motion Current 4D CT techniques have limitations in either spatial or temporal resolution In addition, most of these techniques rely on auxiliary surrogates to relate the time of the CT scan to the patient{\textquoteright}s respiratory phase We propose a 4D CT method for lung applications to overcome these problems MATERIALS AND METHODS: A set of axial scans are taken at multiple table positions to obtain a series of two-dimensional images while the patient is breathing freely Each two-dimensional image is registered to a reference CT volume The deformation of the image with respect to the volume is used to synchronize the image with the respiratory cycle assuming that there is no phase variation along the craniocaudal direction The reconstructed 4D dataset is a series of deformable transformations of the reference volume RESULTS: A synthetic 4D dataset showed that the registration error is less than 5\% of the image deformation A swine study showed that the algorithm can generate better image quality than the image sorting method A respiratory-gated 4D dataset showed that the algorithm{\textquoteright}s result is consistent with the ground truth CONCLUSION: The algorithm can reconstruct good quality 4D images without external surrogates even if the CT scans are acquired under irregular respiratory motion The algorithm may allow for reduced radiation dose to the patient with a limited loss of image quality Although the phase variation exists along the craniocaudal direction, the 4D reconstruction is reasonably accurate

}, keywords = {Algorithms, Artifacts, Computer-Assisted, Humans, Imaging, Information Storage, Lung, methods, Movement, Phantoms, Radiographic Image Enhancement, Radiographic Image Interpretation, Radiography, Reproducibility of Results, Respiratory Mechanics, Retrieval, Sensitivity, Specificity, Three-Dimensional, Tomography, X-Ray Computed}, doi = {10 1016/j acra 2006 05 004}, url = {http://dx doi org/10 1016/j acra 2006 05 004}, author = {Sheng Xu and Russell H. Taylor and Gabor Fichtinger and Kevin Cleary} } @conference {Fischer2006c, title = {MRI guided needle insertion - comparison of four techniques}, booktitle = {Annual Scientific Conference of the Society of Interventional Radiology}, year = {2006}, author = {Gregory Fischer and Christina Wamsley and James Zinreich and Gabor Fichtinger} } @conference {Fischer2006i, title = {MRI Image Overlay: Application to Arthrography Needle Insertion}, booktitle = {AMI-ARCS workshop to the 9th MICCAI Conference}, year = {2006}, author = {Gregory Fischer and Anton Degeut and Csaba Csoma and Russell H. Taylor and Laura Fayad and John A Carrino and James Zinreich and Gabor Fichtinger} } @article {Fischer2006, title = {MRI image overlay: applications to arthrography needle insertion}, journal = {Studies in health technology and informatics}, volume = {119}, year = {2006}, pages = {150{\textendash}155}, abstract = {

Magnetic Resonance Imaging (MRI) has unmatched potential for planning, guiding, monitoring, controlling interventions MR arthrography (MRA) is the imaging gold standard to assess small ligament, fibrocartilage injury in joints In contemporary practice, MRA consists of two consecutive sessions: 1) an interventional session where a needle is driven to the joint space, gadolinium contrast is injected under fluoroscopy or CT guidance 2) A diagnostic MRI imaging session to visualize the distribution of contrast inside the joint space, evaluate the condition of the joint Our approach to MRA is to eliminate the separate radiologically guided needle insertion, contrast injection procedure by performing those tasks on conventional high-field closed MRI scanners We propose a 2D augmented reality image overlay device to guide needle insertion procedures This approach makes diagnostic high-field magnets available for interventions without a complex, expensive engineering entourage

}, keywords = {Arthrography, Humans, Magnetic Resonance Imaging, Needles, United States, User-Computer Interface}, author = {Gregory Fischer and Anton Degeut and Daniel Schlattman and Russell H. Taylor and Laura Fayad and James Zinreich and Gabor Fichtinger} } @conference {Fischer2006e, title = {MRI Image Overlay: Joint Arthrography Porcine Trials}, booktitle = {International Society for Magnetic Resonance in Medicine 14th Scientific Meeting - ISMRM}, year = {2006}, pages = {1735}, author = {Gregory Fischer and Anton Degeut and Csaba Csoma and Russell H. Taylor and Laura Fayad and James Zinreich and Gabor Fichtinger} } @conference {Fischer2006a, title = {Musculoskeletal Needle Placement with MRI Image Overlay Guidance}, booktitle = {Annual Meeting of the International Society for Computer Assisted Orthopedic Surgery}, year = {2006}, pages = {158-160}, author = {Gregory Fischer and Anton Degeut and Laura Fayad and James Zinreich and Russell H. Taylor and Gabor Fichtinger} } @article {DiMaio2006, title = {Needle artifact localization in 3T MR images}, journal = {Studies in health technology and informatics}, volume = {119}, year = {2006}, pages = {120{\textendash}125}, publisher = {Brigham, Women{\textquoteright}s Hospital, Harvard Medical School, Boston 02115, USA simond@bwh harvard edu}, abstract = {

This work explores an image-based approach for localizing needles during MRI-guided interventions, for the purpose of tracking, navigation Susceptibility artifacts for several needles of varying thickness were imaged, in phantoms, using a 3 tesla MRI system, under a variety of conditions The relationship between the true needle positions, the locations of artifacts within the images, determined both by manual, automatic segmentation methods, have been quantified, are presented here

}, keywords = {Artifacts, Magnetic Resonance Imaging, Needles, United States}, author = {Simon DiMaio and Daniel Kacher and Randy Ellis and Gabor Fichtinger and Nobuhiko Hata and Gary Zientara and Lawrence Panych and Ron Kikinis and Ferenc Jolesz} } @conference {Seidl2006, title = {Optical Measurement of Needle Insertion Depth}, booktitle = {Procedings First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics BioRob 2006}, year = {2006}, month = {20{\textendash}22 Feb}, pages = {799{\textendash}804}, doi = {10 1109/BIOROB 2006 1639188}, author = {Karsten Seidl and Gabor Fichtinger and Peter Kazanzides} } @article {Chowning2006, title = {A preliminary analysis and model of prostate injection distributions}, journal = {The Prostate}, volume = {66}, number = {4}, year = {2006}, month = {Mar}, pages = {344{\textendash}357}, publisher = {Department of Biomedical Engineering, Johns Hopkins University School of Medicine, Baltimore, Maryland 21205, USA schowning@mri jhu edu}, abstract = {

PURPOSE: Understanding the internal dynamics of prostate injections, particularly injection pattern distribution is a key step to developing new therapies for prostate disease that may be best served with a direct injection approach Due to excellent properties involving liquid contrast agents, MRI can be used for targeting, monitoring of injections into organs, tissues MATERIALS AND METHODS: Eleven intraprostatic injections were performed in vivo with canines using a custom transrectal guiding, imaging system for use in a standard 1 5 T MR scanner In addition, 25 injections were performed on excised cadaveric human prostates, using a MedRad Spectris injector system MRI was used to guide the injections, monitor intraparenchymal injection distribution RESULTS: T1, T2-weighted MR images were correlated with histology to produce three-dimensional data sets that can be used to analyze trends in injection patterns This analysis was used to develop strategies for injection prediction such as gadolinium pre-injections, diffusion-weighted imaging guidance In addition, a rough model of prostate injections is described, and a preliminary injection guide is developed that takes into account the individual clinician{\textquoteright}s goals for therapy CONCLUSIONS: MR visualization of injected therapeutic agents allows for prediction, monitoring of drug distributions, possibly improving efficacy, reducing side effects Injection analysis, modeling may be used to assist in optimizing clinical treatments that require or would benefit from focal parenchymal injections into the prostate

}, keywords = {Animals, Antineoplastic Agents, Dogs, drug therapy, Forecasting, Magnetic Resonance Imaging, Male, Models, pharmacokinetics/pharmacology, Prostate, Prostatic Neoplasms, Rectum, Theoretical}, doi = {10 1002/pros 20298}, url = {http://dx doi org/10 1002/pros 20298}, author = {Scott Chowning and Robert Susil and Axel Krieger and Gabor Fichtinger and Whitcomb, Louis L. and Ergin Atalar} } @article {DiMaio2006b, title = {Robot-assisted needle placement in open-MRI: system architecture, integration and validation}, journal = {Studies in health technology and informatics}, volume = {119}, year = {2006}, pages = {126{\textendash}131}, publisher = {Brigham, Women{\textquoteright}s Hospital, Harvard Medical School, USA simond@bwh harvard edu}, abstract = {

This work describes an integrated system for planning, performing percutaneous procedures-such as prostate biopsy-with robotic assistance under MRI-guidance The physician interacts with a planning interface in order to specify the set of desired needle trajectories, based on anatomical structures, lesions observed in the patient{\textquoteright}s MR images All image-space coordinates are automatically computed, and used to position a needle guide by means of an MRI-compatible robotic manipulator, thus avoiding the limitations of the traditional fixed needle template Direct control of real-time imaging aids visualization of the needle as it is manually inserted through the guide Results from in-scanner phantom experiments are provided

}, keywords = {Biopsy, Computer Systems, diagnosis, Humans, instrumentation, Magnetic Resonance Imaging, Male, Needle, Prostatic Neoplasms, Robotics}, author = {Simon DiMaio and Steve Pieper and Kiyoyuki Chinzei and Nobuhiko Hata and Emese Balogh and Gabor Fichtinger and Clare M Tempany and Ron Kikinis} } @conference {Fischer2006f, title = {Robotic Assistant for MR-Guided Prostate Biopsy}, booktitle = {6th Interventional MRI Symposium}, year = {2006}, pages = {243-245}, author = {Gregory Fischer and Simon DiMaio and Iulian Iordachita and Gabor Fichtinger} } @conference {Fischer2006g, title = {Robotic MRI-guided Prostate Needle Placement}, booktitle = {Medical Robotics workshop to the 9th MICCAI Conference}, year = {2006}, author = {Gregory Fischer and Simon DiMaio and Iulian Iordachita and Gabor Fichtinger} } @article {Kennedy2006, title = {Robotically Assisted Needle Placement for Prostate Brachytherapy}, journal = {Journal of Medical Physics}, volume = {33}, number = {6}, year = {2006}, pages = {2264-2264}, publisher = {AAPM}, doi = {10 1118/1 2241837}, url = {http://link aip org/link/?MPH/33/2264/3}, author = {Christopher Kennedy and Iulian Iordachita and E. Clif Burdette and Gernot Kronreif and Wolfgang Ptacek and Peter Kazanzides and Danny Y Song and Gabor Fichtinger} } @article {Fichtinger2006, title = {Robotically assisted prostate brachytherapy with transrectal ultrasound guidance{\textendash}Phantom experiments}, journal = {Brachytherapy}, volume = {5}, number = {1}, year = {2006}, pages = {14{\textendash}26}, publisher = {Engineering Research Center, The Johns Hopkins University, Baltimore, MD 21218-2682, USA gabor@cs jhu edu}, abstract = {

PURPOSE: To report the preliminary experimental results obtained with a robot-assisted transrectal ultrasound (TRUS)-guided prostate brachytherapy system METHODS AND MATERIALS: The system consists of a TRUS unit, a spatially coregistered needle insertion robot, and an FDA-approved treatment planning, image-registered implant system The robot receives each entry/target coordinate pair of the implant plan, inserts a preloaded needle, and then the seeds are deposited The needles/sources are tracked in TRUS, thus allowing the plan to be updated as the procedure progresses RESULTS: The first insertion attempt was recorded for each needle, without adjustment All clinically relevant locations were reached in a prostate phantom Nonparallel, parallel needle trajectories were demonstrated Based on TRUS, the average transverse placement error was 2 mm (worst case 2 5 mm, 80\% less than 2 mm), and the average sagittal error was 2 5 mm (worst case 5 0 mm, 70\% less than 2 5 mm) CONCLUSIONS: The concept, technical viability of robot-assisted brachytherapy were demonstrated in phantoms The kinematically decoupled robotic assistant device is inherently safe Overall performance was promising, but further optimization is necessary to prove the possibility of improved dosimetry

}, keywords = {Anatomic, Brachytherapy, Endosonography, Equipment Design, Humans, instrumentation, Male, methods, Models, Prostatic Neoplasms, radiotherapy/ultrasonography, Rectum, Robotics}, doi = {10 1016/j brachy 2005 10 003}, url = {http://dx doi org/10 1016/j brachy 2005 10 003}, author = {Gabor Fichtinger and E. Clif Burdette and Attila Tanacs and Alexandru Patriciu and Dumitru Mazilu and Whitcomb, Louis L. and Dan Stoianovici} } @article {Vikal2006a, title = {Seed Segmentation in C-Arm Fluoroscopy for Brachytherapy Implant Reconstruction}, journal = {Journal of Medical Physics}, volume = {33}, number = {6}, year = {2006}, pages = {2229-2229}, publisher = {AAPM}, doi = {10 1118/1 2241679}, url = {http://link aip org/link/?MPH/33/2229/2}, author = {Siddharth Vikal and Ameet K. Jain and Anton Degeut and Danny Y Song and Gabor Fichtinger} } @conference {Jain2006, title = {Small size fiducial for c-arm tracking (FTRAC)}, booktitle = {6th Annual Meeting of the International Society for Computer Assisted Surgery,}, year = {2006}, pages = {235-238}, author = {Ameet K. Jain and Iulian Iordachita and Gabor Fichtinger} } @conference {Kazanzides2006a, title = {System Architecture and Toolkits for Image-Guided Intervention Systems}, booktitle = {Medicine Meets Virtual Reality 14}, year = {2006}, author = {Peter Kazanzides and Simon DiMaio and Kevin Cleary and Gabor Fichtinger and Russell H. Taylor} } @conference {DiMaio2006a, title = {A System for MRI-guided Prostate Interventions}, booktitle = {Procedings First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics BioRob 2006}, year = {2006}, month = {20{\textendash}22 Feb}, pages = {68{\textendash}73}, doi = {10 1109/BIOROB 2006 1639062}, author = {Simon DiMaio and Gregory Fischer and Maker, S. J. and Nobuhiko Hata and Iulian Iordachita and Clare M Tempany and Ron Kikinis and Gabor Fichtinger} } @article {Susil2006, title = {Transrectal prostate biopsy and fiducial marker placement in a standard 1 5T magnetic resonance imaging scanner}, journal = {The Journal of Urology}, volume = {175}, number = {1}, year = {2006}, month = {Jan}, pages = {113{\textendash}120}, publisher = {Department of Biomedical Engineering, Johns Hopkins University School of Medicine, Baltimore, Maryland, USA}, abstract = {

PURPOSE: We investigated the accuracy, feasibility of a system that provides transrectal needle access to the prostate concurrent with 1 5 Tesla MRI which previously has not been possible MATERIALS AND METHODS: In 5 patients with previously diagnosed prostate cancer, MRI guided intraprostatic placement of gold fiducial markers (4 procedures),/or prostate biopsy (3 procedures) was performed using local anesthesia RESULTS: Mean procedure duration was 76 minutes, all patients tolerated the intervention well Procedure related adverse events included self-limited hematuria, hematochezia following 3 of 8 procedures (all resolved in less than 1 week) Mean needle placement accuracy was 1 9 mm for the fiducial marker placement studies, 1 8 mm for the biopsy procedures Mean fiducial marker placement accuracy was 4 8 mm, the mean fiducial marker placement accuracy transverse to the needle direction was 2 6 mm All patients who underwent the procedure were able to complete their course of radiotherapy without delay or complication CONCLUSIONS: While studies of clinical usefulness are warranted, transrectal 1 5 T MRI guided prostate biopsy, fiducial marker placement is feasible using this system, providing new opportunities for image guided diagnostic, therapeutic prostate interventions

}, keywords = {Biopsy, Equipment Design, Feasibility Studies, Humans, instrumentation, instrumentation/methods, Magnetic Resonance Imaging, Male, Needle, pathology, Prostate, Prostatic Neoplasms}, doi = {10 1016/S0022-5347(05)00065-0}, url = {http://dx doi org/10 1016/S0022-5347(05)00065-0}, author = {Robert Susil and Cynthia Menard and Axel Krieger and Jonathan Coleman and Kevin Camphausen and Peter Choyke and Gabor Fichtinger and Whitcomb, Louis L. and Norman Coleman and Ergin Atalar} } @article {Boctor2006b, title = {Ultrasound monitoring of tissue ablation via deformation model and shape priors}, journal = {Medical image computing and computer-assisted intervention (MICCAI)}, volume = {9}, number = {Pt 2}, year = {2006}, pages = {405{\textendash}412}, abstract = {

A rapid approach to monitor ablative therapy through optimizing shape, elasticity parameters is introduced Our motivating clinical application is targeting, intraoperative monitoring of hepatic tumor thermal ablation, but the method translates to the generic problem of encapsulated stiff masses (solid organs, tumors, ablated lesions, etc ) in ultrasound imaging The approach involves the integration of the following components: a biomechanical computational model of the tissue, a correlation approach to estimate/track tissue deformation, and an optimization method to solve the inverse problem, recover the shape parameters in the volume of interest Successful convergence, reliability studies were conducted on simulated data Then ex-vivo studies were performed on 18 ex-vivo bovine liver samples previously ablated under ultrasound monitoring in controlled laboratory environment While B-mode ultrasound does not clearly identify the development of necrotic lesions, the proposed technique can potentially segment the ablation zone The same framework can also yield both partial, full elasticity reconstruction

}, keywords = {Algorithms, Animals, Automated, Biological, Cattle, Computer-Assisted, Elasticity, Hepatectomy, Image Enhancement, Image Interpretation, Imaging, Interventional, Liver, Mechanical, methods, Models, Pattern Recognition, physiology/surgery/ultrasonography, Reproducibility of Results, Sensitivity, Specificity, Statistical, Stress, Subtraction Technique, Surgery, Three-Dimensional, Ultrasonography}, author = {Emad Boctor and Michelle de Oliveira and Michael Choti and Roger Ghanem and Russell H. Taylor and Gregory D. Hager and Gabor Fichtinger} } @conference {Boctor2006, title = {Ultrasound self-calibration}, booktitle = {Medical Imaging 2006: Visualization, Image-Guided Procedures, and Display}, volume = {6141}, number = {1}, year = {2006}, pages = {61412N}, publisher = {SPIE}, organization = {SPIE}, doi = {10 1117/12 659594}, url = {http://link aip org/link/?PSI/6141/61412N/1}, author = {Emad Boctor and Iulian Iordachita and Gabor Fichtinger and Gregory D. Hager} } @conference {Rivaz2006, title = {Ultrasound Speckle Detection Using Low Order Moments}, booktitle = {Procedings IEEE Ultrasonics Symposium}, year = {2006}, month = {10/2006}, pages = {2092{\textendash}2095}, doi = {10 1109/ULTSYM 2006 501}, author = {Hassan Rivaz and Emad Boctor and Gabor Fichtinger} } @article {Jain2005, title = {C-arm calibration-is it really necessary?}, journal = {Medical image computing and computer-assisted intervention (MICCAI)}, volume = {8}, number = {Pt 1}, year = {2005}, pages = {639{\textendash}646}, abstract = {

C-arm fluoroscopy is modelled as a perspective projection, the parameters of which are estimated through a calibration procedure It has been universally accepted that precise intra-procedural calibration is a prerequisite for accurate quantitative C-arm fluoroscopy guidance Calibration, however, significantly adds to system complexity, which is a major impediment to clinical practice We challenge the status quo by questioning the assumption that precise intra-procedural calibration is really necessary We derived theoretical bounds for the sensitivity of 3D measurements to mis-calibration Experimental results corroborated the theory in that mis-calibration in the focal spot by as much as 50 mm still allows for tracking with an accuracy of 0 5 mm in translation, 0 65 degrees in rotation, and such mis-calibration does not impose any additional error on the reconstruction of small objects

}, keywords = {Algorithms, Calibration, Computer-Assisted, Equipment Failure Analysis, Fluoroscopy, Imaging, instrumentation/methods/standards, methods/standards, Radiographic Image Enhancement, Radiographic Image Interpretation, Reproducibility of Results, Sensitivity, Specificity, Three-Dimensional, United States}, author = {Ameet K. Jain and Ryan Kon and Yu Zhou and Gabor Fichtinger} } @conference {Kon2005, title = {CIS-UltraCal: an open-source ultrasound calibration toolkit}, booktitle = {Medical Imaging 2005: Ultrasonic Imaging and Signal Processing}, volume = {5750}, number = {1}, year = {2005}, pages = {516-523}, publisher = {SPIE}, organization = {SPIE}, doi = {10 1117/12 596929}, url = {http://link aip org/link/?PSI/5750/516/1}, author = {Ryan Kon and Joshua Leven and Kishore Kothapalli and Emad Boctor and Gabor Fichtinger and Gregory D. Hager and Russell H. Taylor} } @article {Krieger2005a, title = {Design of a novel MRI compatible manipulator for image guided prostate interventions}, journal = {IEEE Transactions on Biomedical Engineering}, volume = {52}, number = {2}, year = {2005}, month = {Feb}, pages = {306{\textendash}313}, abstract = {

This paper reports a novel remotely actuated manipulator for access to prostate tissue under magnetic resonance imaging guidance (APT-MRI) device, designed for use in a standard high-field MRI scanner The device provides three-dimensional MRI guided needle placement with millimeter accuracy under physician control Procedures enabled by this device include MRI guided needle biopsy, fiducial marker placements, and therapy delivery Its compact size allows for use in both standard cylindrical, open configuration MRI scanners Preliminary in vivo canine experiments, first clinical trials are reported

}, keywords = {Animals, Biopsy, Computer-Assisted, Dogs, Equipment Design, Equipment Failure Analysis, Feasibility Studies, Imaging, instrumentation/methods, Magnetic Resonance Imaging, Male, Micromanipulation, Needle, pathology/surgery, Prostate, Reproducibility of Results, Robotics, Sensitivity, Specificity, Surgery, Three-Dimensional}, doi = {10 1109/TBME 2004 840497}, url = {http://dx doi org/10 1109/TBME 2004 840497}, author = {Axel Krieger and Robert Susil and Cynthia Menard and Jonathan Coleman and Gabor Fichtinger and Ergin Atalar and Whitcomb, Louis L.} } @article {Jain2005a, title = {FTRAC}, journal = {Journal of Medical Physics}, volume = {32}, number = {10}, year = {2005}, month = {Oct}, pages = {3185{\textendash}3198}, abstract = {

C-arm fluoroscopy is ubiquitous in contemporary surgery, but it lacks the ability to accurately reconstruct three-dimensional (3D) information A major obstacle in fluoroscopic reconstruction is discerning the pose of the x-ray image, in 3D space Optical/magnetic trackers tend to be prohibitively expensive, intrusive, cumbersome in many applications We present single-image-based fluoroscope tracking (FTRAC) with the use of an external radiographic fiducial consisting of a mathematically optimized set of ellipses, lines, and points This is an improvement over contemporary fiducials, which use only points The fiducial encodes six degrees of freedom in a single image by creating a unique view from any direction A nonlinear optimizer can rapidly compute the pose of the fiducial using this image The current embodiment has salient attributes: small dimensions (3 x 3 x 5 cm); need not be close to the anatomy of interest;, accurately segmentable We tested the fiducial, the pose recovery method on synthetic data, also experimentally on a precisely machined mechanical phantom Pose recovery in phantom experiments had an accuracy of 0 56 mm in translation, 0 33 degrees in orientation Object reconstruction had a mean error of 0 53 mm with 0 16 mm STD The method offers accuracies similar to commercial tracking systems, and appears to be sufficiently robust for intraoperative quantitative C-arm fluoroscopy Simulation experiments indicate that the size can be further reduced to 1 x 1 X 2 cm, with only a marginal drop in accuracy

}, keywords = {Algorithms, Computer-Assisted, Fluoroscopy, Imaging, Information Storage, instrumentation/methods, methods, Phantoms, Radiographic Image Enhancement, Radiographic Image Interpretation, Reproducibility of Results, Retrieval, Sensitivity, Specificity, Three-Dimensional}, author = {Ameet K. Jain and Tabish Mustufa and Yu Zhou and E. Clif Burdette and Gregory Chirikjian and Gabor Fichtinger} } @conference {Jain2005f, title = {Fusion of ultrasound and fluoroscopy in prostate brachytherapy}, booktitle = {Biomedical Imaging Research Opportunities Workshop (BIROW)}, year = {2005}, author = {Ameet K. Jain and Yu Zhou and Tabish Mustufa and E. Clif Burdette and Gregory Chirikjian and Gabor Fichtinger} } @conference {DeOliveira2005, title = {Image Overlay for CT-Guided Hepatic Needle Insertions - Cadaver Studies}, booktitle = {Annual congress of the Society of American Gastrointestinal Endoscopic Surgeons}, year = {2005}, pages = {pp 243-244}, author = {Michelle de Oliveira and Anton Degeut and Gregory Fischer and Emese Balogh and Russell H. Taylor and Laura Fayad and James Zinreich and Gabor Fichtinger} } @article {Fichtinger2005, title = {Image overlay for CT-guided needle insertions}, journal = {Journal of Computer Aided Surgery}, volume = {10}, number = {4}, year = {2005}, month = {Jul}, pages = {241{\textendash}255}, abstract = {

OBJECTIVE: We present a 2D image overlay device to assist needle placement on computed tomography (CT) scanners MATERIALS AND METHODS: The system consists of a flat display, a semitransparent mirror mounted on the gantry When the physician looks at the patient through the mirror, the CT image appears to be floating inside the body with correct size, position as if the physician had 2D {\textquoteright}X-ray vision{\textquoteright} The physician draws the optimal path on the CT image The composite image is rendered on the display, thus reflected in the mirror The reflected image is used to guide the physician in the procedure In this article, we describe the design, various embodiments of the 2D image overlay system, followed by the results of phantom, cadaver experiments in multiple clinical applications RESULTS: Multiple skeletal targets were successfully accessed with one insertion attempt Generally, successful access was recorded on liver targets when a clear path opened, but the number of attempts, accuracy showed variability because of occasional lack of access Soft tissue deformation further reduced the accuracy, consistency in comparison to skeletal targets CONCLUSION: The system demonstrated strong potential for reducing faulty needle insertion attempts, thereby reducing X-ray dose, patient discomfort

}, keywords = {Animals, Biopsy, Cadaver, Calibration, Computer-Assisted, Equipment Design, Humans, Image Processing, Imaging, instrumentation, Interventional, Needle, Phantoms, Radiography, Swine, Tomography, User-Computer Interface, X-Ray Computed}, doi = {10 1080/10929080500230486}, url = {http://dx doi org/10 1080/10929080500230486}, author = {Gabor Fichtinger and Anton Degeut and Gregory Fischer and Iulian Iordachita and Emese Balogh and Ken Masamune and Russell H. Taylor and Laura Fayad and Michelle de Oliveira and James Zinreich} } @article {Fichtinger2005a, title = {Image overlay guidance for needle insertion in CT scanner}, journal = {IEEE transactions on biomedical engineering}, volume = {52}, number = {8}, year = {2005}, month = {Aug}, pages = {1415{\textendash}1424}, doi = {10 1109/TBME 2005 851493}, author = {Gabor Fichtinger and Anton Degeut and Ken Masamune and Emese Balogh and Gregory Fischer and Herve Mathieu and Russell H. Taylor and James Zinreich and Laura Fayad} } @conference {Li2005, title = {Image-Guided Robot System for Small Animal Research}, booktitle = {Conference on Complex Medical Engineering (CME2005)}, year = {2005}, pages = {194-198}, author = {Jack Li and Emese Balogh and Iulian Iordachita and Gabor Fichtinger and Peter Kazanzides} } @article {Menard2005, title = {An Interventional MRI Technique for the Molecular Characterization of Intra-Prostatic Dynamic Contrast Enhancement}, journal = {Molecular Imaging}, volume = {4 No 1}, year = {2005}, pages = {63-66}, author = {Cynthia Menard and Robert Susil and Peter Choyke and Jonathan Coleman and R.L. Grubb III and Ahmed Gharib and Axel Krieger and Peter Guion and David Thomasson and Karen Ullman and Sandeep Gupta and Virginia Espina and Lance Liotta and Emanuel Petricoin and Gabor Fichtinger and Whitcomb, Louis L. and Ergin Atalar and Norman Coleman and Kevin Camphausen} } @article {Xu2005b, title = {Lung deformation estimation and four-dimensional CT lung reconstruction}, journal = {Medical image computing and computer-assisted intervention (MICCAI)}, volume = {8}, number = {Pt 2}, year = {2005}, pages = {312{\textendash}319}, abstract = {

Four-dimensional (4D) computed tomography (CT) image acquisition is a useful technique in radiation treatment planning, interventional radiology in that it can account for respiratory motion of lungs Current 4D lung reconstruction techniques have limitations in either spatial or temporal resolution In addition, most of these techniques rely on auxiliary surrogates to relate the time of CT scan to the patient{\textquoteright}s respiratory phase In this paper, we propose a novel 4D CT lung reconstruction, deformation estimation algorithm Our algorithm is purely image based The algorithm can reconstruct high quality 4D images even if the original images are acquired under irregular respiratory motion The algorithm is validated using synthetic 4D lung data Experimental results from a swine study data are also presented

}, keywords = {Algorithms, Animals, Artificial Intelligence, Biological, Computer Simulation, Computer-Assisted, Elasticity, Humans, Imaging, Lung, methods, Models, physiology/radiography, Radiographic Image Enhancement, Radiographic Image Interpretation, Reproducibility of Results, Respiratory Mechanics, Sensitivity, Specificity, Swine, Three-Dimensional, Tomography, X-Ray Computed}, author = {Sheng Xu and Russell H. Taylor and Gabor Fichtinger and Kevin Cleary} } @conference {Jain2005d, title = {Matching and reconstruction of brachytherapy seeds using the Hungarian algorithm (MARSHAL)}, booktitle = {SPIE Medical Imaging}, volume = {5744}, number = {1}, year = {2005}, pages = {810-821}, publisher = {SPIE}, organization = {SPIE}, doi = {10 1117/12 595825}, url = {http://link aip org/link/?PSI/5744/810/1}, author = {Ameet K. Jain and Yu Zhou and Tabish Mustufa and E. Clif Burdette and Gregory Chirikjian and Gabor Fichtinger} } @article {Jain2005e, title = {Matching and reconstruction of brachytherapy seeds using the Hungarian algorithm (MARSHAL)}, journal = {Journal of Medical Physics}, volume = {32}, number = {11}, year = {2005}, month = {Nov}, pages = {3475{\textendash}3492}, abstract = {

Intraoperative dosimetric quality assurance in prostate brachytherapy critically depends on discerning the three-dimensional (3D) locations of implanted seeds The ability to reconstruct the implanted seeds intraoperatively will allow us to make immediate provisions for dosimetric deviations from the optimal implant plan A method for seed reconstruction from segmented C-arm fluoroscopy images is proposed The 3D coordinates of the implanted seeds can be calculated upon resolving the correspondence of seeds in multiple x-ray images We formalize seed-matching as a combinatorial optimization problem, which has salient features: (a) extensively studied solutions by the computer science community; (b) proof for the nonexistence of any polynomial time exact algorithm;, (c) a practical pseudo-polynomial algorithm that mostly runs in O(N3) time using any number of images We prove that two images are insufficient to correctly match the seeds, while a third image renders the matching problem to be of nonpolynomial complexity We utilize the special structure of the problem, propose a pseudopolynomial time algorithm Using three presegmented images, matching, reconstruction of brachytherapy seeds using the Hungarian algorithm achieved complete matching in simulation experiments;, 98 5\% in phantom experiments 3D reconstruction error for correctly matched seeds has a mean of 0 63 mm, and 0 9 mm for incorrectly matched seeds The maximum seed reconstruction error in each implant was typically around 1 32 mm Both on synthetic data, in phantom experiments, matching rate, reconstruction error achieved using presegmented images was found to be sufficient for prostate brachytherapy The algorithm is extendable to deal with arbitrary number of images without any loss in speed or accuracy The algorithm is sufficiently generic to provide a practical solution to any correspondence problem, across different imaging modalities, features

}, keywords = {Algorithms, Automated, Brachytherapy, Calibration, Computer Simulation, Computer-Assisted, Humans, Image Interpretation, Imaging, Male, methods, Models, Numerical Analysis, Pattern Recognition, Phantoms, Prostatic Neoplasms, Radiographic Image Enhancement, Radiographic Image Interpretation, Radiometry, Radiotherapy, Radiotherapy Dosage, Radiotherapy Planning, Reproducibility of Results, Statistical, Theoretical, Three-Dimensional, Time Factors, Ultrasonography}, author = {Ameet K. Jain and Yu Zhou and Tabish Mustufa and E. Clif Burdette and Gregory Chirikjian and Gabor Fichtinger} } @conference {Krieger2005, title = {MRI Guided Prostate Interventions in 3T}, booktitle = {International Society of Magnetic Resonance in Medicine (ISMRM)}, year = {2005}, author = {Axel Krieger and Peter Guion and Abdel-Monem El-Sharkawy and Greg Metzger and Jonathan Coleman and R.L. Grubb III and Di Qian and Ahmed Gharib and David Thomasson and Anurag K. Singh and Gabor Fichtinger and Whitcomb, Louis L. and Cynthia Menard and Ergin Atalar} } @article {Cleary2005, title = {Precision placement of instruments for minimally invasive procedures using a "needle driver" robot}, journal = {international journal of medical robotics computer assisted surgery MRCAS}, volume = {1}, number = {2}, year = {2005}, month = {Jan}, pages = {40{\textendash}47}, abstract = {

Medical practice continues to move toward less invasive procedures Many of these procedures require the precision placement of a needle in the anatomy Over the past several years, our research team has been investigating the use of a robotic needle driver to assist the physician in this task This paper summarizes our work in this area The robotic system is briefly described, followed by a description of a clinical trial in spinal nerve blockade The robot was used under joystick control to place a 22 gauge needle in the spines of 10 patients using fluoroscopic imaging The results were equivalent to the current manual procedure We next describe our follow-up clinical application in lung biopsy for lung cancer screening under CT fluoroscopy The system concept is discussed, the results of a phantom study are presented A start-up company named ImageGuide has recently been formed to commercialize the robot Their revised robot design is presented, along with plans to install a ceiling-mounted version of the robot in the CT fluoroscopy suite at Georgetown University

}, keywords = {Biopsy, Cadaver, Equipment Design, Fluoroscopy, Humans, Imaging, instrumentation, instrumentation/methods, Lung, Lung Neoplasms, methods, Minimally Invasive, Needles, Nerve Block, pathology, pathology/radiography, Phantoms, Randomized Controlled Trials as Topic, Robotics, Spinal Nerves, Surgical Procedures, Tomography, X-Ray Computed}, doi = {10 1002/rcs 40}, url = {http://dx doi org/10 1002/rcs 40}, author = {Kevin Cleary and Vance Watson and David Lindisch and Russell H. Taylor and Gabor Fichtinger and Sheng Xu and Charles White and John Donlon and Michael Taylor and Alexandru Patriciu and Dumitru Mazilu and Dan Stoianovici} } @article {Boctor2005, title = {Real-time quality control of tracked ultrasound}, journal = {Medical image computing and computer-assisted intervention (MICCAI)}, volume = {8}, number = {Pt 1}, year = {2005}, pages = {621{\textendash}630}, abstract = {

The overwhelming majority of intra-operative hazard situations in tracked ultrasound (US) systems are attributed to failure of registration between tracking, imaging coordinate frames We introduce a novel methodology for eal-time in-vivo quality control of tracked US systems, in order to capture registration failures during the clinical procedure In effect, we dynamically recalibrate the tracked US system for rotation, scale factor, and in-plane position offset up to a scale factor We detect any unexpected change in these parameters through capturing discrepancies in the resulting calibration matrix, thereby assuring quality (accuracy, consistency) of the tracked system No phantom is used for the recalibration We perform the task of quality control in the background, transparently to the clinical user while the subject is being scanned We present the concept, mathematical formulation, and experimental evaluation in-vitro This new method can play an important role in guaranteeing accurate, consistent, and reliable performance of tracked ultrasound

}, keywords = {Algorithms, Computer Systems, Computer-Assisted, Health Care, Humans, Image Enhancement, Image Interpretation, Interventional, methods, Quality Assurance, Quality Control, Reproducibility of Results, Sensitivity, Specificity, Surgery, Ultrasonography, User-Computer Interface}, author = {Emad Boctor and Iulian Iordachita and Gabor Fichtinger and Gregory D. Hager} } @conference {Xu2005a, title = {Registration and motion compensation of a needle placement robot for CT-guided spinal procedures}, booktitle = {Medical Imaging 2005: Visualization, Image-Guided Procedures, and Display}, volume = {5744}, number = {1}, year = {2005}, pages = {661-669}, publisher = {SPIE}, organization = {SPIE}, doi = {10 1117/12 594731}, url = {http://link aip org/link/?PSI/5744/661/1}, author = {Sheng Xu and Kevin Cleary and Dan Stoianovici and Gabor Fichtinger}, editor = {Robert L. Galloway, Jr. and Kevin Cleary} } @conference {DeOliveira2005a, title = {Robot-assisted 3D strain imaging for monitoring thermal ablation of liver}, booktitle = {Annual congress of the Society of American Gastrointestinal Endoscopic Surgeons}, year = {2005}, pages = {240-241}, author = {Michelle de Oliveira and Emad Boctor and Michael Awad and Russell H. Taylor and Gabor Fichtinger and Michael Choti} } @conference {Jain2005b, title = {A robust fluoroscope tracking (FTRAC) fiducial}, booktitle = {Medical Imaging 2005: Visualization, Image-Guided Procedures, and Display}, volume = {5744}, number = {1}, year = {2005}, pages = {798-809}, publisher = {SPIE}, organization = {SPIE}, doi = {10 1117/12 595782}, url = {http://link aip org/link/?PSI/5744/798/1}, author = {Ameet K. Jain and Tabish Mustufa and Yu Zhou and E. Clif Burdette and Gregory Chirikjian and Gabor Fichtinger} } @article {Jain2005c, title = {Towards Intra-Operative Dosimetry in Prostate Brachytherapy}, journal = {Journal of Medical Physics}, volume = {32}, number = {6}, year = {2005}, pages = {2159-2159}, doi = {10 1118/1 1998646}, url = {http://link aip org/link/?MPH/32/2159/1}, author = {Ameet K. Jain and Yu Zhou and Christopher Kennedy and Tabish Mustufa and E. Clif Burdette and Gregory Chirikjian and Gabor Fichtinger} } @article {Kemper2005, title = {Transrectal Fiducial Carrier for Radiographic Image Registration in Prostate Brachytherapy}, journal = {Journal of Medical Physics}, volume = {32}, number = {6}, year = {2005}, pages = {2108-2108}, doi = {10 1118/1 1998447}, url = {http://link aip org/link/?MPH/32/2108/2}, author = {Jacob Kemper and Astrid Burkholder and Ameet K. Jain and Tabish Mustufa and Keenan Wyrobek and E. Clif Burdette and Danny Y Song and Allison Okamura and Gabor Fichtinger} } @conference {Boctor2005b, title = {Ultrasound Self-Calibration and Real-Time Quality Control for Interventions}, booktitle = {IEEE International Ultrasonics Symposium}, year = {2005}, author = {Emad Boctor and Iulian Iordachita and Gabor Fichtinger and Gregory D. Hager} } @conference {Xu2005, title = {Validation of 3D motion tracking of pulmonary lesions using CT fluoroscopy images for robotically assisted lung biopsy}, booktitle = {Medical Imaging 2005: Visualization, Image-Guided Procedures, and Display}, volume = {5744}, number = {1}, year = {2005}, pages = {60-68}, publisher = {SPIE}, organization = {SPIE}, doi = {10 1117/12 594910}, url = {http://link aip org/link/?PSI/5744/60/1}, author = {Sheng Xu and Gabor Fichtinger and Russell H. Taylor and Kevin Cleary}, editor = {Robert L. Galloway, Jr. and Kevin Cleary} } @conference {Li2005a, title = {Validation of an image-guided robot system for measurement, biopsy and injection in rodents}, booktitle = {Procedings IEEE 31st Annual Northeast Bioengineering Conference}, year = {2005}, month = {2{\textendash}3 April}, pages = {131{\textendash}133}, doi = {10 1109/NEBC 2005 1431959}, author = {Jack Li and Iulian Iordachita and Emese Balogh and Gabor Fichtinger and Peter Kazanzides} } @conference {Xu2004, title = {3D motion tracking of pulmonary lesions using CT fluoroscopy images for robotically assisted lung biopsy}, booktitle = {Medical Imaging 2004: Visualization, Image-Guided Procedures, and Display}, volume = {5367}, number = {1}, year = {2004}, pages = {394-402}, publisher = {SPIE}, organization = {SPIE}, doi = {10 1117/12 534056}, url = {http://link aip org/link/?PSI/5367/394/1}, author = {Sheng Xu and Gabor Fichtinger and Russell H. Taylor and Kevin Cleary}, editor = {Robert L. Galloway, Jr.} } @article {Jain2004, title = {Brachytherapy seed reconstruction from fluoroscopic images using network flow algorithms}, journal = {International Journal of Radiation Oncology*Biology*Physics}, volume = {60}, number = {Supplement 1}, year = {2004}, pages = {S594 - S595}, issn = {0360-3016}, doi = {DOI: 10 1016/j ijrobp 2004 07 594}, url = {http://www sciencedirect com/science/article/B6T7X-4D93P8D-YJ/2/5a75b8f5680b69fa4a2ea65491763c4b}, author = {Ameet K. Jain and Yu Zhou and Tabish Mustufa and E. Clif Burdette and Christian Scheideler and Gregory Chirikjian and Gabor Fichtinger} } @conference {Boctor2004a, title = {CISUS: an integrated 3D ultrasound system for IGT using a modular tracking API}, booktitle = {Medical Imaging 2004: Visualization, Image-Guided Procedures, and Display}, volume = {5367}, number = {1}, year = {2004}, pages = {247-256}, publisher = {SPIE}, organization = {SPIE}, doi = {10 1117/12 537776}, url = {http://link aip org/link/?PSI/5367/247/1}, author = {Emad Boctor and Anand Viswanathan and Steve Pieper and Michael Choti and Russell H. Taylor and Ron Kikinis and Gabor Fichtinger}, editor = {Robert L. Galloway, Jr.} } @conference {Iordachita2004, title = {Controllable motorized devices for accurate percutaneous needle placement in soft tissue target}, booktitle = {The Eleventh World Congress in Mechanism and Machine Science}, year = {2004}, pages = {82-86}, author = {Iulian Iordachita and Richard Wiard and Gabor Fichtinger and Ichiro Sakuma and Dan Stoianovici} } @conference {Krieger2004, title = {Design of a novel MRI compatible manipulator for image guided prostate intervention}, booktitle = {Procedings IEEE International Conference on Robotics and Automation ICRA {\textquoteright}04}, volume = {1}, year = {2004}, pages = {377{\textendash}382}, doi = {10 1109/ROBOT 2004 1307179}, author = {Axel Krieger and Robert Susil and Gabor Fichtinger and Ergin Atalar and Whitcomb, Louis L.} } @conference {Li2004, title = {Design of an image-guided robot system for measurement, biopsy and injection in rodents}, booktitle = {Procedings IEEE 30th Annual Northeast Bioengineering Conference}, year = {2004}, month = {17{\textendash}18 April}, pages = {39{\textendash}40}, doi = {10 1109/NEBC 2004 1299982}, author = {Jack Li and Peter Kazanzides and Russell H. Taylor and Clifton Ling and Gabor Fichtinger} } @conference {Boctor2004f, title = {Development of a Robotically-Assisted 3-D Ultrasound System for Radiofrequency Ablation of Liver Tumors}, booktitle = {6th World Congress of the Hepato-Pancreato-Biliary Association (IHPBA)}, year = {2004}, author = {Emad Boctor and Michael Awad and Gabor Fichtinger and Russell H. Taylor and Michael Choti} } @conference {Boctor2004c, title = {A dual-armed robotic system for intraoperative ultrasound guided hepatic ablative therapy: a prospective study}, booktitle = {Procedings IEEE International Conference on Robotics and Automation ICRA {\textquoteright}04}, volume = {3}, year = {2004}, month = {Apr 26{\textendash}May 1,}, pages = {2517{\textendash}2522}, doi = {10 1109/ROBOT 2004 1307440}, author = {Emad Boctor and Gregory Fischer and Michael Choti and Gabor Fichtinger and Russell H. Taylor} } @article {Viswanathan2004, title = {Immediate Ultrasound Calibration from Three Poses and Minimal Image Processing}, journal = {Proceedings in Lecture Notes in Computer Science Medical Image Computing and Computer-Assisted Intervention (MICCAI)}, volume = {3217}, year = {2004}, pages = {446-454}, author = {Anand Viswanathan and Emad Boctor and Russell H. Taylor and Gregory D. Hager and Gabor Fichtinger} } @conference {Menard2004, title = {Integrating Diagnostic and Interventional MRI for the Molecular Characterization of Prostate Cancer}, booktitle = {5th Interventional MRI Symposium}, year = {2004}, author = {Cynthia Menard and Robert Susil and Peter Choyke and Jonathan Coleman and R.L. Grubb III and Axel Krieger and Ahmed Gharib and Peter Guion and David Thomasson and Jacek Capala and Sandeep Gupta and Gabor Fichtinger and Whitcomb, Louis L. and Norman Coleman and Kevin Camphausen and Ergin Atalar} } @conference {Jain2004a, title = {Intra-operative Seed Reconstruction from C-arm Images for Prostate Brachytherapy}, booktitle = {Annual Convention of the Radiology Society of North America (RSNA)}, year = {2004}, author = {Ameet K. Jain and Yu Zhou and Tabish Mustufa and E. Clif Burdette and Christian Scheideler and Gregory Chirikjian and Gabor Fichtinger} } @article {Cleary2004, title = {Medical Robotics workshop{\textendash}MRWS}, journal = {Journal of Computer Aided Surgery}, volume = {9}, number = {4}, year = {2004}, pages = {167{\textendash}171}, keywords = {Biomedical Research, Computer-Assisted, Humans, Operative, Robotics, Surgery, Surgical Procedures}, doi = {10 1080/10929080500097695}, url = {http://dx doi org/10 1080/10929080500097695}, author = {Kevin Cleary and Brian Davies and Gabor Fichtinger and Jocelyne Troccaz and Tim Lueth and Vance Watson} } @conference {Menard2004a, title = {MRI For The Molecular Characterization Of Prostate Cancer Integrating Diagnostic And Interventional MRI For The Molecular Characterization Of Prostate Cancer}, booktitle = {5th Interventional MRI Symposium}, year = {2004}, pages = {26}, author = {Cynthia Menard and Robert Susil and Peter Choyke and Jonathan Coleman and R.L. Grubb III and Axel Krieger and Ahmed Gharib and Peter Guion and David Thomasson and Jacek Capala and Sandeep Gupta and Gabor Fichtinger and Whitcomb, Louis L. and Norman Coleman and Kevin Camphausen and Ergin Atalar} } @conference {Susil2004, title = {MRI Guidance and Monitoring of Injected Therapeutic Agents}, booktitle = {Annual Meeting of International Society of Magnetic Resonance in Medicine (ISMRM)}, year = {2004}, author = {Robert Susil and Scott Chowning and Axel Krieger and Gabor Fichtinger and Whitcomb, Louis L. and Ergin Atalar} } @article {Fichtinger2004, title = {Needle Insertion in CT Scanner with Image Overlay - Cadaver Studies}, journal = {Proceedings in Lecture Notes in Computer Science Medical Image Computing and Computer-Assisted Intervention (MICCAI)}, volume = {3217}, year = {2004}, pages = {795-803}, author = {Gabor Fichtinger and Anton Degeut and Ken Masamune and Gregory Fischer and Emese Balogh and Herve Mathieu and Russell H. Taylor and Laura Fayad and James Zinreich} } @conference {Boctor2004, title = {A novel closed form solution for ultrasound calibration}, booktitle = {Procedings IEEE International Symposium on Biomedical Imaging: Nano to Macro}, year = {2004}, month = {15{\textendash}18 April}, pages = {527{\textendash}530}, doi = {10 1109/ISBI 2004 1398591}, author = {Emad Boctor and Anand Viswanathan and Michael Choti and Russell H. Taylor and Gabor Fichtinger and Gregory D. Hager} } @conference {Krieger2004a, title = {A Novel MRI Compatible Manipulator for Prostate Interventions}, booktitle = {Annual Meeting of International Society of Magnetic Resonance in Medicine (ISMRM)}, year = {2004}, author = {Axel Krieger and Robert Susil and Cynthia Menard and Jonathan Coleman and Gabor Fichtinger and Whitcomb, Louis L. and Ergin Atalar} } @article {Shen2004, title = {Optimization of Biopsy Strategy by A Statistical Atlas of Prostate Cancer Distribution}, journal = {Medical Image Analysis}, volume = {8}, year = {2004}, pages = {139-150}, author = {Dinggang Shen and Zhiqiang Lao and Jianchao Zeng and Wei Zhang and Isabel Sesterhenn and Leon Sun and Judd Moul and Edward Herskovits and Gabor Fichtinger and Christos Davatzikos} } @article {Shen2004a, title = {Optimized prostate biopsy via a statistical atlas of cancer spatial distribution}, journal = {Medical image analysis}, volume = {8}, number = {2}, year = {2004}, month = {Jun}, pages = {139{\textendash}150}, abstract = {

A methodology is presented for constructing a statistical atlas of spatial distribution of prostate cancer from a large patient cohort, and it is used for optimizing needle biopsy An adaptive-focus deformable model is used for the spatial normalization, registration of 100 prostate histological samples, which were provided by the Center for Prostate Disease Research of the US Department of Defense, resulting in a statistical atlas of spatial distribution of prostate cancer Based on this atlas, a statistical predictive model was developed to optimize the needle biopsy sites, by maximizing the probability of detecting cancer Experimental results using cross-validation show that the proposed method can detect cancer with a 99\% success rate using seven needles, in these samples

}, keywords = {Algorithms, Biological, Biopsy, Cohort Studies, Computer Simulation, Computer-Assisted, Forecasting, Humans, Image Processing, Imaging, Male, Models, Needle, pathology, Probability, Prostate, Prostatic Neoplasms, Reproducibility of Results, Statistical, statistics /\&/ numerical data, Three-Dimensional}, doi = {10 1016/j media 2003 11 002}, url = {http://dx doi org/10 1016/j media 2003 11 002}, author = {Dinggang Shen and Zhiqiang Lao and Jianchao Zeng and Wei Zhang and Isabel Sesterhenn and Leon Sun and Judd Moul and Edward Herskovits and Gabor Fichtinger and Christos Davatzikos} } @conference {DiMaio2004, title = {Robot assisted percutaneous intervention in open-MRI}, booktitle = {5th Interventional MRI Symposium}, year = {2004}, author = {Simon DiMaio and Steve Pieper and Kiyoyuki Chinzei and Gabor Fichtinger and Ron Kikinis} } @article {Boctor2004b, title = {Robotic Strain Imaging for Monitoring Thermal Ablation of Liver Tumors}, journal = {Proceedings in Lecture Notes in Computer Science}, volume = {3217}, year = {2004}, pages = {81-88}, author = {Emad Boctor and Gabor Fichtinger and Ambert Yeung and Michael Awad and Russell H. Taylor and Michael Choti} } @conference {Schneider2004, title = {A robotic system for transrectal needle insertion into the prostate with integrated ultrasound}, booktitle = {Procedings IEEE International Conference on Robotics and Automation ICRA {\textquoteright}04}, volume = {1}, year = {2004}, pages = {365{\textendash}370}, doi = {10 1109/ROBOT 2004 1307177}, author = {Chad Schneider and Allison Okamura and Gabor Fichtinger} } @conference {Boctor2004e, title = {Robotically assisted ablative treatment guided by freehand 3D ultrasound}, booktitle = {Conference of Computer Assisted Radiology and Surgery (CARS)}, year = {2004}, pages = {503-508}, author = {Emad Boctor and Robert Webster and Michael Choti and Russell H. Taylor and Gabor Fichtinger} } @conference {Jain2004b, title = {Robust Pose Recovery for Fluoroscopic Reconstruction}, booktitle = {Conference of American Association of Physicists in Medicine (AAPM)}, year = {2004}, author = {Ameet K. Jain and Tabish Mustufa and Yu Zhou and E. Clif Burdette and Gregory Chirikjian and Gabor Fichtinger} } @conference {Coleman2004, title = {Technique and Accuracy of a Clinical System for Transrectal Intraprostatic Needle Placement in a Standard 1 5T MRI Scanner}, booktitle = {American Urological Association}, year = {2004}, author = {Jonathan Coleman and Robert Susil and Axel Krieger and Peter Choyke and Betty Wise and David Thomasson and Ahmed Gharib and Whitcomb, Louis L. and Gabor Fichtinger and Marston Linehan and Norman Coleman and Kevin Camphausen and Ergin Atalar and Cynthia Menard} } @conference {Susil2004a, title = {Transrectal Prostate Biopsy and Fiducial Marker Placement in a Standard 1 5T MRI Scanner}, booktitle = {Annual Meeting of International Society of Magnetic Resonance in Medicine (ISMRM)}, year = {2004}, author = {Robert Susil and Cynthia Menard and Axel Krieger and Jonathan Coleman and Kevin Camphausen and Peter Choyke and Karen Ullman and Sharon Smith and Gabor Fichtinger and Whitcomb, Louis L. and Norman Coleman and Ergin Atalar} } @article {Boctor2004d, title = {Virtual remote center of motion control for needle placement robots}, journal = {Journal of Computer Assisted Surgery}, volume = {9 (5)}, year = {2004}, pages = {175-183}, author = {Emad Boctor and Robert Webster and Herve Mathieu and Allison Okamura and Gabor Fichtinger} } @article {Balogh2004, title = {Visualization, Planning, and Monitoring Software for MRI-Guided Prostate Intervention Robot}, journal = {Proceedings Lecture Notes in Computer Science Medical Image Computing and Computer-Assisted Intervention (MICCAI)}, volume = {3217}, year = {2004}, pages = {73-80}, author = {Emese Balogh and Anton Degeut and Robert Susil and Axel Krieger and Anand Viswanathan and Cynthia Menard and Jonathan Coleman and Gabor Fichtinger} } @conference {Masamune2003, title = {An Enhanced Reality System for Percutaneous needle placement Therapy inside X-ray CT Scanner}, booktitle = {ARCS - Workshop on Augmented Reality in Computer Aided Surgery}, year = {2003}, pages = {83}, author = {Ken Masamune and Anton Degeut and Herve Mathieu and James Zinreich and Russell H. Taylor and Frank Sauer and Gabor Fichtinger} } @article {Fichtinger2003, title = {Image Registration of multiple medical imaging modalities using a multiple degree-of-freedom-encoded fiducial}, number = {60/493,406}, year = {2003}, author = {Gabor Fichtinger and Ameet Jain and Tabish Mustufa and Keenan Wyrobek and Gregory Chirikjian and Yu Zhou and Everette C. Burdette} } @conference {Susil2003b, title = {MRI Guided Intraprostatic Therapeutic Injections in a Closed, 1 5T Scanner}, booktitle = {International Society of Magnetic Resonance Imaging in Medicine, Eleventh Scientific Meeting}, year = {2003}, pages = {687}, author = {Robert Susil and Axel Krieger and Andrew Derbyshire and Whitcomb, Louis L. and Gabor Fichtinger and Ergin Atalar} } @conference {Susil2003a, title = {An MRI System for Guidance and Monitoring of Transrectal Prostate Interventions in a 1 5T Scanner}, booktitle = {Radiological Society of North America, 89th Scientific Assembly}, year = {2003}, author = {Robert Susil and Axel Krieger and Cynthia Menard and Jonathan Coleman and Kevin Camphausen and Peter Choyke and Norman Coleman and Whitcomb, Louis L. and Gabor Fichtinger and Ergin Atalar} } @article {Fichtinger2003, title = {Prostate biopsy and local therapy inside conventional closed mri with robotic assistance - animal studies}, journal = {Journal of Academic Radiology}, volume = {10}, number = {8}, year = {2003}, pages = {955 - 955}, issn = {1076-6332}, doi = {DOI: 10 1016/S1076-6332(03)00042-4}, url = {http://www sciencedirect com/science/article/B75BK-496D439-31/2/7aa2439d75eef1a22dca0f298c235db2}, author = {Gabor Fichtinger and Robert Susil and Axel Krieger and Attila Tanacs and Whitcomb, Louis L. and Ergin Atalar} } @conference {Boctor2003, title = {Rapid calibration method for registration and 3D tracking of ultrasound images using spatial localizer}, booktitle = {Medical Imaging 2003: Ultrasonic Imaging and Signal Processing}, volume = {5035}, number = {1}, year = {2003}, pages = {521-532}, publisher = {SPIE}, organization = {SPIE}, doi = {10 1117/12 479953}, url = {http://link aip org/link/?PSI/5035/521/1}, author = {Emad Boctor and Ameet K. Jain and Michael Choti and Russell H. Taylor and Gabor Fichtinger} } @conference {Boctor2003c, title = {Robotically assisted intraoperative ultrasound with application to ablative therapy of liver cancer}, booktitle = {Medical Imaging 2003: Visualization, Image-Guided Procedures, and Display}, volume = {5029}, number = {1}, year = {2003}, pages = {281-291}, publisher = {SPIE}, organization = {SPIE}, doi = {10 1117/12 480338}, url = {http://link aip org/link/?PSI/5029/281/1}, author = {Emad Boctor and Russell H. Taylor and Gabor Fichtinger and Michael Choti}, editor = {Robert L. Galloway, Jr.} } @article {Susil2003, title = {System for MR image-guided prostate interventions: canine study}, journal = {Radiology}, volume = {228}, number = {3}, year = {2003}, month = {Sep}, pages = {886{\textendash}894}, abstract = {

The purpose of this study was to demonstrate the use of a transrectal system that enables precise magnetic resonance (MR) image guidance, monitoring of prostate interventions The system used a closed-bore 1 5-T MR imaging unit, enables one to take advantage of the higher signal-to-noise ratio achieved with traditional magnet designs, which is crucial for accurate targeting, monitoring of prostate interventions In the first of the four canine studies, reliable needle placement, with all needles placed within 2 mm of the desired target site, was achieved In two other studies, MR imaging was used to monitor distribution of injected contrast agent solution (gadopentetate dimeglumine mixed with trypan blue dye) in, around the prostate, thereby confirming that solution had been delivered to the desired tissue, also detecting faulty injections In the final study, accurate placement, MR imaging of brachytherapy seeds in the prostate were demonstrated The described system provides a flexible platform for a variety of minimally invasive MR image-guided therapeutic, diagnostic prostate interventions

}, keywords = {administration /\&/ dosage, administration /\&/ dosage/diagnostic use, Animals, Brachytherapy, Contrast Media, Dogs, Gadolinium DTPA, Injections, Intralesional, Magnetic Resonance Imaging, Male, methods, Prostate, Prostatic Neoplasms, Radiography, Radiotherapy, Trypan Blue}, doi = {10 1148/radiol 2283020911}, url = {http://dx doi org/10 1148/radiol 2283020911}, author = {Robert Susil and Axel Krieger and Andrew Derbyshire and Attila Tanacs and Whitcomb, Louis L. and Gabor Fichtinger and Ergin Atalar} } @conference {Boctor2003a, title = {Tracked 3D ultrasound in radio-frequency liver ablation}, booktitle = {Medical Imaging 2003: Ultrasonic Imaging and Signal Processing}, volume = {5035}, number = {1}, year = {2003}, pages = {174-182}, publisher = {SPIE}, organization = {SPIE}, doi = {10 1117/12 479952}, url = {http://link aip org/link/?PSI/5035/174/1}, author = {Emad Boctor and Gabor Fichtinger and Russell H. Taylor and Michael Choti}, editor = {William F. Walker and Michael F. Insana} } @article {Boctor2003b, title = {Virtual remote center of motion control for needle placement robots}, journal = {Journal of Computer Aided Surgery}, volume = {9}, number = {5}, year = {2003}, pages = {175{\textendash}183}, abstract = {

OBJECTIVE: We present an algorithm that enables percutaneous needle-placement procedures to be performed with unencoded, unregistered, minimally calibrated robots while removing the constraint of placing the needle tip on a mechanically enforced Remote Center of Motion (RCM) MATERIALS AND METHODS: The algorithm requires only online tracking of the surgical tool, a five-degree-of-freedom (5-DOF) robot comprising three prismatic DOF, two rotational DOF An incremental adaptive motion control cycle guides the needle to the insertion point, also orients it to align with the target-entry-point line The robot executes RCM motion without having a physically constrained fulcrum point RESULTS: The proof-of-concept prototype system achieved 0 78 mm translation accuracy, 1 4 degrees rotational accuracy (this is within the tracker accuracy) within 17 iterative steps (0 5-1 s) CONCLUSION: This research enables robotic assistant systems for image-guided percutaneous procedures to be prototyped/constructed more quickly, less expensively than has been previously possible Since the clinical utility of such systems is clear, has been demonstrated in the literature, our work may help promote widespread clinical adoption of this technology by lowering system cost, complexity

}, keywords = {Algorithms, Computer-Assisted, Equipment Design, Imaging, instrumentation, Needles, Robotics, Surgery, Three-Dimensional}, doi = {10 1080/10929080500097661}, url = {http://dx doi org/10 1080/10929080500097661}, author = {Emad Boctor and Robert Webster and Herve Mathieu and Allison Okamura and Gabor Fichtinger} } @article {Masamune2002, title = {An Image Overlay System with Enhanced Reality for Percutaneous Therapy Performed Inside CT Scanner}, journal = {Lecture Notes in Computer Science Medical Image Computing and Computer-Assisted Intervention (MICCAI)}, volume = {2489}, year = {2002}, pages = {77-84}, author = {Ken Masamune and Gabor Fichtinger and Anton Degeut and Daisuke Matsuka and Russell H. Taylor} } @conference {Krieger2002, title = {MRI Compatible Device for MRI Guided Transrectal Prostate Biopsy}, booktitle = {International Society of Magnetic Resonance Imaging in Medicine, Tenth Scientific Meeting}, year = {2002}, pages = {338}, author = {Axel Krieger and Robert Susil and Attila Tanacs and Whitcomb, Louis L. and Gabor Fichtinger and Ergin Atalar} } @article {Lee2002, title = {Numerical algorithms for spatial registration of line fiducials from cross-sectional images}, journal = {Journal of Medical Physics}, volume = {29}, number = {8}, year = {2002}, month = {Aug}, pages = {1881{\textendash}1891}, abstract = {

We present several numerical algorithms for six-degree-of-freedom rigid-body registration of line fiducial objects to their marks in cross-sectional planar images, such as those obtained in CT, MRI, given the correspondence between the marks, line fiducials The area of immediate application is frame-based stereotactic procedures, such as radiosurgery, functional neurosurgery The algorithms are also suitable to problems where the fiducial pattern moves inside the imager, as is the case in robot-assisted image-guided surgical applications We demonstrate the numerical methods on clinical CT images, computer-generated data, compare their performance in terms of robustness to missing data, robustness to noise, and speed The methods show two unique strengths: (1) They provide reliable registration of incomplete fiducial patterns when up to two-thirds of the total fiducials are missing from the image;, (2) they are applicable to an arbitrary combination of line fiducials without algorithmic modification The average speed of the fastest algorithm is 0 3236 s for six fiducial lines in real CT data in a Matlab implementation

}, keywords = {Algorithms, Anatomy, anatomy /\&/ histology/radiography, Cross-Sectional, Head, Humans, Image Enhancement, Imaging, Magnetic Resonance Imaging, methods, Quality Control, Reproducibility of Results, Sensitivity, Specificity, Stereotaxic Techniques, Stochastic Processes, Subtraction Technique, Three-Dimensional, Tomography, X-Ray Computed}, author = {Sangyoon Lee and Gabor Fichtinger and Gregory Chirikjian} } @conference {Susil2002a, title = {A Real-time MRI System for Guidance and Monitoring of Prostate Biopsy}, booktitle = {International Society of Magnetic Resonance Imaging in Medicine, Tenth Scientific Meeting}, year = {2002}, pages = {2237}, author = {Robert Susil and Andrew Derbyshire and Axel Krieger and Attila Tanacs and Meiyappan Solaiyappan and Whitcomb, Louis L. and Elliot McVeigh and Gabor Fichtinger and Ergin Atalar} } @article {Fichtinger2002, title = {Robotically Assisted Prostate Biopsy And Therapy With Intra-Operative CT Guidance}, journal = {Journal of Academic Radiology}, volume = {9 no 1}, year = {2002}, pages = {60-74}, author = {Gabor Fichtinger and Theodore DeWeese and Alexandru Patriciu and Attila Tanacs and Dumitru Mazilu and James Anderson and Ken Masamune and Russell H. Taylor and Dan Stoianovici} } @conference {Susil2002, title = {A system for guidance and monitoring of transrectal prostate biopsy in a 1 5 T closed MR scanner}, booktitle = {European Radiology}, volume = {12(9)}, year = {2002}, author = {Robert Susil and Axel Krieger and Andrew Derbyshire and Attila Tanacs and Elliot McVeigh and Whitcomb, Louis L. and Gabor Fichtinger and Ergin Atalar} } @conference {Susil2002b, title = {A System for Guidance and Monitoring of Transrectal Prostate Biopsy in a 1 5 T Closed MR Scanner}, booktitle = {International Symposium of IVMRI}, year = {2002}, author = {Robert Susil and Axel Krieger and Andrew Derbyshire and Attila Tanacs and Elliot McVeigh and Whitcomb, Louis L. and Gabor Fichtinger and Ergin Atalar} } @article {Fichtinger2002a, title = {Transrectal prostate biopsy inside closed MRI scanner with remote actuation and under real-time image guidance}, journal = {Lecture Notes in Computer Science Medical Image Computing and Computer-Assisted Intervention (MICCAI)}, volume = {2488 part 1}, year = {2002}, pages = {91-98}, author = {Gabor Fichtinger and Axel Krieger and Robert Susil and Attila Tanacs and Whitcomb, Louis L. and Ergin Atalar} } @article {Fichtinger2001a, title = {Approximate Volumetric Reconstruction from Projected Images}, journal = {Lecture Notes in Computer Science Medical Image Computing and Computer-Assisted Intervention (MICCAI)}, volume = {2208}, year = {2001}, pages = {416-424}, author = {Gabor Fichtinger and Sheng Xu and Attila Tanacs and Kieran P Murphy and Lee Myers and Jeffery Williams} } @article {Cleary2001, title = {Automatic registration for percutaneous vertebral body tracking}, journal = {International Congress Series}, volume = {1230}, year = {2001}, pages = {1215 - 1216}, issn = {0531-5131}, doi = {DOI: 10 1016/S0531-5131(01)00045-0 }, url = {http://www sciencedirect com/science/article/B7581-47V9SDF-8B/2/b4387cef8e19f8c7dbc5d52fa97414de}, author = {Kevin Cleary and Sheng Xu and Gabor Fichtinger and Neil Glossop} } @article {Lee2001a, title = {Novel Algorithms for Robust Registration of Fiducials in CT and MRI}, journal = {Journal of Medical Physics}, volume = {29}, year = {2001}, pages = {1881-1891}, author = {Sangyoon Lee and Gabor Fichtinger and Gregory Chirikjian} } @article {Lee2001, title = {Novel Algorithms for Robust Registration of Fiducials in CT and MRI}, journal = {Medical Image Computing and Computer-Assisted Intervention (MICCAI) 2001}, volume = {2208}, year = {2001}, pages = {717-724}, author = {Sangyoon Lee and Gabor Fichtinger and Gregory Chirikjian} } @conference {Fichtinger2001b, title = {Robotically Assisted Percutaneous Local Therapy and Biopsy}, booktitle = {Workshop proceedings of the Tenth IEEE International Conference of Advance Robotics}, year = {2001}, pages = {133-151}, author = {Gabor Fichtinger and Ken Masamune and Alexandru Patriciu and Attila Tanacs and James Anderson and Theodore DeWeese and Russell H. Taylor and Dan Stoianovici} } @article {Shen2001, title = {Statistical Atlas Of Prostate Cancer For Optimal Biopsy}, journal = {Lecture Notes in Computer Science Medical Image Computing and Computer-Assisted Intervention (MICCAI)}, volume = {2208}, year = {2001}, pages = {416-424}, author = {Dinggang Shen and Zhiqiang Lao and Jianchao Zeng and Edward Herskovits and Gabor Fichtinger and Christos Davatzikos} } @conference {Shen2001a, title = {Statistically optimized biopsy strategy for the diagnosis of prostate cancer}, booktitle = {Procedings 14th IEEE Symposium on Computer-Based Medical Systems CBMS 2001}, year = {2001}, month = {26{\textendash}27 July}, pages = {433{\textendash}438}, doi = {10 1109/CBMS 2001 941758}, author = {Dinggang Shen and Zhiqiang Lao and Jianchao Zeng and Edward Herskovits and Gabor Fichtinger and Christos Davatzikos} } @conference {Fichtinger2001, title = {The surgical CAD/CAM paradigm and an implementation for robotically-assisted percutaneous local therapy}, booktitle = {Procedings AIPR 2001 30th Applied Imagery Pattern Recognition Workshop}, year = {2001}, month = {10{\textendash}12 Oct}, pages = {3{\textendash}8}, doi = {10 1109/AIPR 2001 991195}, author = {Gabor Fichtinger and Dan Stoianovici and Russell H. Taylor} } @article {Masamune2001, title = {System for robotically assisted percutaneous procedures with computed tomography guidance}, journal = {Journal of Computer Aided Surgery}, volume = {6}, number = {6}, year = {2001}, pages = {370{\textendash}383}, abstract = {

We present the prototype of an image-guided robotic system for accurate, consistent placement of percutaneous needles in soft-tissue targets under CT guidance inside the gantry of a CT scanner The couch-mounted system consists of a seven-degrees-of-freedom passive mounting arm, a remote center-of-motion robot, and a motorized needle-insertion device Single-image-based coregistration of the robot, image space is achieved by stereotactic localization using a miniature version of the BRW head frame built into the radiolucent needle driver The surgeon plans, controls the intervention in the scanner room on a desktop computer that receives DICOM images from the scanner The system does not need calibration, employs pure image-based registration, and does not utilize any vendor-specific hardware or software features In the open air, where there is no needle-tissue interaction, we systematically achieved an accuracy better than 1 mm in hitting targets at 5-8 cm from the fulcrum point In the phantom, the orientation accuracy was 0 6 degrees, and the distance between the needle tip, the target was 1 04 mm Experiments indicated that this robotic system is suitable for a variety of percutaneous clinical applications

}, keywords = {Biopsy, Computer-Assisted, Humans, Image Processing, Imaging, instrumentation, instrumentation/methods, Needle, Phantoms, Robotics, Surgery, Tomography, User-Computer Interface, X-Ray Computed}, doi = {10 1002/igs 10024}, url = {http://dx doi org/10 1002/igs 10024}, author = {Ken Masamune and Gabor Fichtinger and Alexandru Patriciu and Robert Susil and Russell H. Taylor and Louis Kavoussi and James Anderson and Ichiro Sakuma and Takeyoshi Dohi and Dan Stoianovici} } @conference {Patriciu2000, title = {CT-Guided Robotic Prostate Biopsy}, booktitle = {18th World Congress on Endourology \& SWL}, year = {2000}, author = {Alexandru Patriciu and Dumitru Mazilu and Dan Stoianovici and Alexandru Stanimir and Robert Susil and Ken Masamune and Gabor Fichtinger and Russell H. Taylor and James Anderson and Louis Kavoussi} } @article {Tang2000, title = {Fiducial registration from a single X-ray image: a new technique for fluoroscopy guidance and radiotherapy}, journal = {Lecture Notes in Computer Science Medical Image Computing and Computer-Assisted Intervention (MICCAI)}, volume = {1935}, year = {2000}, pages = {27-41}, author = {Thomas Tang and Randy Ellis and Gabor Fichtinger} } @article {Taylor2000, title = {Medical Robotics and Computer-Integrated Surgery: Information-driven Systems for 21st Century Operating Rooms}, journal = {Journal of Japan Society of Computer Aided Surgery}, volume = {2 No 2}, year = {2000}, pages = {47-53}, author = {Russell H. Taylor and Gabor Fichtinger and Patrick Jensen and Cameron Riviere} } @conference {Fichtinger1997a, title = {3D Image and Volume Fusion for Stereotactic Radiotherapy and Neurosurgery}, booktitle = {Proceedings of Conference of Hungarian Association of Physicists in Medicine (HAPM)}, year = {1997}, pages = {65-71}, author = {Gabor Fichtinger and O Sean and Ting Wu and Leonidas Harisiadis and Barry Wessels} } @conference {Fichtinger1997b, title = {3D Treatment Planning and Verification System for Gynecological Implants}, booktitle = {Proceedings of Conference of Hungarian Association of Physicists in Medicine (HAPM)}, year = {1997}, pages = {40-42}, author = {Gabor Fichtinger and Jentzsch KW and Ellen Yorke and Ting Wu} } @conference {Fichtinger1997, title = {Fractionated Stereotactic Radiotherapy for Pediatric Use with CT/MR Image and Volume Fusion}, booktitle = {Proceedings of Conference of Hungarian Association of Physicists in Medicine (HAPM)}, year = {1997}, pages = {71-75}, author = {Gabor Fichtinger and Ting Wu and Jentzsch KW and Ellen Yorke and Barry Wessels} } @conference {Fichtinger1996a, title = {Fractionated Stereotactic Radiotherapy for Pediatric Use with CT/MR Image and Volume Fusion}, booktitle = {Proceedings of International Symposium on Pediatric Neuro-Radiology, Journal of Neuro-Radiology}, volume = {23}, number = {8}, year = {1996}, pages = {1038}, author = {Gabor Fichtinger and Ting Wu and Jentzsch KW and Ellen Yorke and Barry Wessels} } @conference {Fichtinger1996, title = {Three Dimensional Image and Volume Fusion for Stereotactic Radiosurgery and Neurosurgery}, booktitle = {Proceedings of Conference of American Association of Physicists in Medicine (AAPM), Medical Physics}, volume = {23}, number = {8}, year = {1996}, pages = {1492}, author = {Gabor Fichtinger and Ting Wu and Jentzsch KW and Ellen Yorke and Sean O{\textquoteright}Malley} } @conference {Fichtinger1996b, title = {Three Dimensional Treatment Planning and Verification System for Gynecological Implants}, booktitle = {Proceedings of Conference of American Association of Physicists in Medicine (AAPM), Medical Physics}, volume = {23}, number = {8}, year = {1996}, pages = {1486}, author = {Gabor Fichtinger and Jentzsch KW and Ellen Yorke and Ting Wu} } @conference {Fichtinger1995, title = {Computerized Pre-Treatment and Post-Treatment Planning System for Ultrasound Guided I125 Prostate Implants}, booktitle = {Title listing, Proceedings of Conference of American Association of Physicists in Medicine (AAPM)}, volume = {22}, number = {6}, year = {1995}, pages = {903}, author = {Gabor Fichtinger and Ting Wu and C Rogers and L Rosen and Barry Wessels} } @conference {Wu1995a, title = {A Method of Head Immobilization for Frameless Fractionated Stereotactic Radiotherapy}, booktitle = {Proceedings of Conference of American Association of Physicists in Medicine (AAPM)}, volume = {22}, number = {6}, year = {1995}, pages = {966}, author = {Ting Wu and L Der and Leonidas Harisiadis and Gabor Fichtinger and Ellen Yorke and Jentzsch KW and ND Frayser and HG Aghdam and Barry Wessels} } @conference {Wu1995, title = {Target Point Verification of Frameless Fractionated Stereotactic Radiotherapy}, booktitle = {Proceedings of Conference of American Association of Physicists in Medicine (AAPM)}, volume = {22}, number = {6}, year = {1995}, pages = {966}, author = {Ting Wu and L Der and Leonidas Harisiadis and Gabor Fichtinger and Ellen Yorke and Jentzsch KW and ND Frayser and HG Aghdam and Barry Wessels} } @conference {Fichtinger1994, title = {Computerized Treatment Planning for Stereotactic Radiosurgery, First World Congress on Computational Medicine}, booktitle = {Public Health and Biotechnology}, year = {1994}, author = {Gabor Fichtinger and Ting Wu and Jentzsch KW and Ellen Yorke and Barry Wessels} } @conference {Erdi1994, title = {Integrated Treatment Planning System To Calculate Three Dimensional Absorbed Dose For Radio-Immunotherapy}, booktitle = {Proceedings of Fifth Conference of Radio-Immunodetection and Radio-Immunotherapy of Cancer}, year = {1994}, author = {Alev Erdi and Barry Wessels and Gabor Fichtinger and Ellen Yorke and Murray Loew and Yusuf Erdi} } @article {Fichtinger1989, title = {Computer Graphics Metafiles and Data Structures}, journal = {Hungarian Journal of Automation}, volume = {1}, year = {1989}, pages = {9-13}, author = {Gabor Fichtinger} } @article {Fichtinger1988, title = {Data Organization of Standard Graphics Systems}, journal = {Hungarian Journal of Automation}, volume = {11}, year = {1988}, pages = {2-8}, author = {Gabor Fichtinger} } @article {Fichtinger1988a, title = {Evolving Standards in Computer Graphics}, journal = {Hungarian Journal of Automation}, volume = {10}, year = {1988}, pages = {30-36}, author = {Gabor Fichtinger} } @article {Fichtinger1988b, title = {Programming in C++ on IBM PC Computers}, journal = {Hungarian Journal of Automation}, volume = {9}, year = {1988}, pages = {9-13}, author = {Gabor Fichtinger} }