@article{Song2011,

title = {Robotic needle guide for prostate brachytherapy: Clinical testing of feasibility and performance},

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},

url = {https://labs.cs.queensu.ca/perklab/wp-content/uploads/sites/3/2024/02/Song2011d.pdf},

doi = {10.1016/j.brachy.2010.01.003},

issn = {15384721},

year  = {2011},

date = {2011-01-01},

urldate = {2011-01-01},

journal = {Brachytherapy},

volume = {10},

pages = {57 - 63},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{Fichtinger2008b,

title = {Robotic assistance for ultrasound-guided prostate brachytherapy},

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},

url = {http://dx doi org/10 1016/j media 2008 06 002

https://labs.cs.queensu.ca/perklab/wp-content/uploads/sites/3/2024/02/Fichtinger2008b.pdf},

doi = {10 1016/j media 2008 06 002},

year  = {2008},

date = {2008-06-01},

urldate = {2008-06-01},

journal = {Medical Image Analysis},

volume = {12},

number = {5},

pages = {535},

publisher = {Queen’s University; 25 Union Street;725 Goodwin Hall; Kingston; ON; Canada gabor@cs queensu ca},

abstract = {<p>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’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</p>},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{Song2008a,

title = {Robotic needle positioner for ultrasound-guided prostate brachytherapy},

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},

url = {http://www sciencedirect com/science/article/B6X3G-4S86YJ8-9B/2/5e814b7f2bd163b3e6a2aa414211fce0

https://labs.cs.queensu.ca/perklab/wp-content/uploads/sites/3/2024/02/Song2008a.pdf},

doi = {DOI: 10 1016/j brachy 2008 02 440},

issn = {1538-4721},

year  = {2008},

date = {2008-01-01},

urldate = {2008-01-01},

journal = {Brachytherapy},

volume = {7},

number = {2},

pages = {176 - 176},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{Fichtinger2007c,

title = {Robotic assistance for ultrasound guided prostate brachytherapy},

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},

year  = {2007},

date = {2007-01-01},

journal = {Medical Image Computing and Computer-Assisted Intervention (MICCAI)},

volume = {4791},

pages = {119–127},

publisher = {The Johns Hopkins University, Baltimore, Maryland, USA gabor@cs jhu edu},

abstract = {<p>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’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</p>},

keywords = {},

pubstate = {published},

tppubtype = {article}

}