@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 {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 {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 {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 {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} } @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 {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} }