DPB2:Past Featured Articles - Revision history

Marianna at 15:06, 14 September 2010

2010-09-14T15:06:11Z

Melonakos at 21:06, 22 August 2009

2009-08-22T21:06:52Z

Gabor at 15:36, 24 June 2008

2008-06-24T15:36:57Z

Gabor at 15:35, 24 June 2008

2008-06-24T15:35:39Z

Gabor at 15:34, 24 June 2008

2008-06-24T15:34:53Z

Melonakos: New page: Back to NA-MIC DBP 2 *
'''G. Fichtinger et al. Robotic Assistance for Ultrasound Guided Prostate Brachytherapy...

2007-11-28T21:13:53Z

New page: Back to NA-MIC DBP 2 * <div id="fichtinger_miccai_07">'''G. Fichtinger et al. Robotic Assistance for Ultrasound Guided Prostate Brachytherapy...

New page

Back to [[DBP2:Main|NA-MIC DBP 2]]

* <div id="fichtinger_miccai_07">'''G. Fichtinger et al. [[Media:Gabor-robotic07.pdf| Robotic Assistance for Ultrasound Guided Prostate Brachytherapy]]'''</div>

{|
| rowspan="3" width="100px" align="center" valign="top" |
[[Image:ProstateDiagram.png|thumb|Robotic Assistance for Ultrasound Guided Prostate Brachytherapy]]
| valign="top" | We present a robotically assisted prostate brachytherapy system and test results in training phantoms. The system consists of a transrectal ultrasound (TRUS) and 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 and uses the same coordinate system. Established clinical hardware, workflow and 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 and rotational errors (measured with Polaris optical tracker relative to the template’s coordinate frame) were 0.25mm (STD=0.17mm) and 0.75° (STD=0.37°). The needle tip placement errors measured in TRUS were 1.04mm (STD=0.50mm). The system is in Phase-I clinical feasibility and safety trials, under Institutional Review Board approval.
|-
|
Gabor Fichtinger, Jonathan Fiene, Christopher W. Kennedy, Gernot Kronreif, Iulian I. Iordachita, Danny Y. Song, E. Clif Burdette, and Peter Kazanzides, [[Media:Gabor-robotic07.pdf| Robotic Assistance for Ultrasound Guided Prostate Brachytherapy]]. Proceedings of the 10th International Conference on Medical Image Computing and Computer Assisted Intervention, MICCAI 2007, LNCS 4791, pp. 119–127, 2007.
|}

@@ Line 5: / Line 5: @@
 {|
 | width="20%" align="left" valign="top" |
-[[Image:ProstateDiagram.png|thumb|left|200px|Robotic Assistance for Ultrasound Guided Prostate Brachytherapy]]
+[[Image:ProstateDiagram.png|left|200px]]
 | align="left" valign="top" |We present a robotically assisted prostate brachytherapy system and test results in training phantoms and Phase-I clinical trials. The system consists of a transrectal ultrasound (TRUS) and 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 and 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 and rotational errors (measured with a Polaris optical tracker relative to the template's coordinate frame) were 0.25 mm (STD=0.17 mm) and 0.75 deg (STD=0.37 deg). In phantoms, needle tip placement errors measured in TRUS were 1.04 mm (STD=0.50 mm). A Phase-I clinical feasibility and safety trial has been successfully completed with the system. We encountered needle tip positioning errors of a magnitude greater than 4 mm in only 2 out 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 apparent benefits of the robotic assistant will lead to improvements in clinical efficacy and outcomes.
 |-
 ||
-|align="left"|Gabor Fichtinger, Jonathan Fiene, Christopher W. Kennedy, Gernot Kronreif, Iulian I. Iordachita, Danny Y. Song, E. Clif Burdette, and Peter Kazanzides, [[Media:Gabor-robotic07.pdf| Robotic Assistance for Ultrasound Guided Prostate Brachytherapy]]. Medical Image Analysis, 2008 (in press)
+|align="left"|Gabor Fichtinger, Jonathan Fiene, Christopher W. Kennedy, Gernot Kronreif, Iulian I. Iordachita, Danny Y. Song, E. Clif Burdette, and Peter Kazanzides. [[Media:Gabor-robotic07.pdf| Robotic Assistance for Ultrasound Guided Prostate Brachytherapy]]. Med Image Anal. 2008 Oct;12(5):535-45.
 |}

@@ Line 4: / Line 4: @@
 {|
-| rowspan="3" width="100px" align="center" valign="top" |
+| width="20%" align="left" valign="top" |
-[[Image:ProstateDiagram.png|thumb|Robotic Assistance for Ultrasound Guided Prostate Brachytherapy]]
+[[Image:ProstateDiagram.png|thumb|left|200px|Robotic Assistance for Ultrasound Guided Prostate Brachytherapy]]
-| valign="top" | We present a robotically assisted prostate brachytherapy system and test results in training phantoms and Phase-I clinical trials. The system consists of a transrectal ultrasound (TRUS) and 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 and 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 and rotational errors (measured with a Polaris optical tracker relative to the template's coordinate frame) were 0.25 mm (STD=0.17 mm) and 0.75 deg (STD=0.37 deg). In phantoms, needle tip placement errors measured in TRUS were 1.04 mm (STD=0.50 mm). A Phase-I clinical feasibility and safety trial has been successfully completed with the system. We encountered needle tip positioning errors of a magnitude greater than 4 mm in only 2 out 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 apparent benefits of the robotic assistant will lead to improvements in clinical efficacy and outcomes.
+| align="left" valign="top" |We present a robotically assisted prostate brachytherapy system and test results in training phantoms and Phase-I clinical trials. The system consists of a transrectal ultrasound (TRUS) and 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 and 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 and rotational errors (measured with a Polaris optical tracker relative to the template's coordinate frame) were 0.25 mm (STD=0.17 mm) and 0.75 deg (STD=0.37 deg). In phantoms, needle tip placement errors measured in TRUS were 1.04 mm (STD=0.50 mm). A Phase-I clinical feasibility and safety trial has been successfully completed with the system. We encountered needle tip positioning errors of a magnitude greater than 4 mm in only 2 out 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 apparent benefits of the robotic assistant will lead to improvements in clinical efficacy and outcomes.
+|-
-Gabor Fichtinger, Jonathan Fiene, Christopher W. Kennedy, Gernot Kronreif, Iulian I. Iordachita, Danny Y. Song, E. Clif Burdette, and Peter Kazanzides, [[Media:Gabor-robotic07.pdf| Robotic Assistance for Ultrasound Guided Prostate Brachytherapy]]. Medical Image Analysis, 2008 (in press)
+||
 |}

@@ Line 6: / Line 6: @@
 | rowspan="3" width="100px" align="center" valign="top" |
 [[Image:ProstateDiagram.png|thumb|Robotic Assistance for Ultrasound Guided Prostate Brachytherapy]]
-| valign="top" | We present a robotically assisted prostate brachytherapy system and test results in training phantoms and Phase-I clinical trials. The system consists of a transrectal ultrasound (TRUS) and 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 and 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 and rotational errors (measured with a Polaris optical tracker relative to the template's coordinate frame) were 0.25 mm (STD=0.17 mm) and 0.75 deg (STD=0.37 deg). In phantoms, needle tip placement errors measured in TRUS were 1.04 mm (STD=0.50 mm). A Phase-I clinical feasibility and safety trial has been successfully completed with the system. We encountered needle tip positioning errors of a magnitude greater than 4 mm in only 2 out 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 apparent benefits of the robotic assistant will lead to improvements in clinical efficacy and outcomes.|-
+| valign="top" | We present a robotically assisted prostate brachytherapy system and test results in training phantoms and Phase-I clinical trials. The system consists of a transrectal ultrasound (TRUS) and 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 and 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 and rotational errors (measured with a Polaris optical tracker relative to the template's coordinate frame) were 0.25 mm (STD=0.17 mm) and 0.75 deg (STD=0.37 deg). In phantoms, needle tip placement errors measured in TRUS were 1.04 mm (STD=0.50 mm). A Phase-I clinical feasibility and safety trial has been successfully completed with the system. We encountered needle tip positioning errors of a magnitude greater than 4 mm in only 2 out 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 apparent benefits of the robotic assistant will lead to improvements in clinical efficacy and outcomes.
+|
 Gabor Fichtinger, Jonathan Fiene, Christopher W. Kennedy, Gernot Kronreif, Iulian I. Iordachita, Danny Y. Song, E. Clif Burdette, and Peter Kazanzides, [[Media:Gabor-robotic07.pdf| Robotic Assistance for Ultrasound Guided Prostate Brachytherapy]]. Medical Image Analysis, 2008 (in press)
 |}

@@ Line 8: / Line 8: @@
 | valign="top" | We present a robotically assisted prostate brachytherapy system and test results in training phantoms and Phase-I clinical trials. The system consists of a transrectal ultrasound (TRUS) and 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 and 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 and rotational errors (measured with a Polaris optical tracker relative to the template's coordinate frame) were 0.25 mm (STD=0.17 mm) and 0.75 deg (STD=0.37 deg). In phantoms, needle tip placement errors measured in TRUS were 1.04 mm (STD=0.50 mm). A Phase-I clinical feasibility and safety trial has been successfully completed with the system. We encountered needle tip positioning errors of a magnitude greater than 4 mm in only 2 out 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 apparent benefits of the robotic assistant will lead to improvements in clinical efficacy and outcomes.|-
+|
-Gabor Fichtinger, Jonathan Fiene, Christopher W. Kennedy, Gernot Kronreif, Iulian I. Iordachita, Danny Y. Song, E. Clif Burdette, and Peter Kazanzides, [[Media:Gabor-robotic07.pdf| Robotic Assistance for Ultrasound Guided Prostate Brachytherapy]]. Proceedings of the 10th International Conference on Medical Image Computing and Computer Assisted Intervention, MICCAI 2007, LNCS 4791, pp. 119–127, 2007.
+Gabor Fichtinger, Jonathan Fiene, Christopher W. Kennedy, Gernot Kronreif, Iulian I. Iordachita, Danny Y. Song, E. Clif Burdette, and Peter Kazanzides, [[Media:Gabor-robotic07.pdf| Robotic Assistance for Ultrasound Guided Prostate Brachytherapy]]. Medical Image Analysis, 2008 (in press)
 |}