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