@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 {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 {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 {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} } @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 {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 {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 {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 {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} } @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 {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 {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 {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 {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 {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 {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} } @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 {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 {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} } @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 {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} } @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 {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 {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 {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 {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} } @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} }