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