@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 = {<p>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</p>
},
	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 {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 = {<p>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</p>
},
	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}
}
