Jonathan Fiene
Postdoctoral Researcher
Mechanical Engineering
Johns Hopkins University
Song, Danny Y; Burdette, E. Clif; Fiene, Jonathan; Armour, Elwood; Kronreif, Gernot; Degeut, Anton; Zhang, Zhe; Iordachita, Iulian; Fichtinger, Gabor; Kazanzides, Peter
Robotic needle guide for prostate brachytherapy: Clinical testing of feasibility and performance Journal Article
In: Brachytherapy, vol. 10, pp. 57 - 63, 2011, ISSN: 15384721.
@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},
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Song, Danny Y; Burdette, Everette C; Fiene, Jonathan; Armour, Elwood; Kronreif, Gernot; Deguet, Anton; Zhang, Zhe; Iordachita, Iulian; Fichtinger, Gabor; Kazanzides, Peter
Robotic needle guide for prostate brachytherapy: clinical testing of feasibility and performance Journal Article
In: Brachytherapy, vol. 10, iss. 1, pp. 57-63, 2011.
@article{fichtinger2011e,
title = {Robotic needle guide for prostate brachytherapy: clinical testing of feasibility and performance},
author = {Danny Y Song and Everette C Burdette and Jonathan Fiene and Elwood Armour and Gernot Kronreif and Anton Deguet and Zhe Zhang and Iulian Iordachita and Gabor Fichtinger and Peter Kazanzides},
url = {https://www.sciencedirect.com/science/article/pii/S1538472110002448},
year = {2011},
date = {2011-01-01},
journal = {Brachytherapy},
volume = {10},
issue = {1},
pages = {57-63},
publisher = {Elsevier},
abstract = {PURPOSE
Optimization of prostate brachytherapy is constrained by tissue deflection of needles and fixed spacing of template holes. We developed and clinically tested a robotic guide toward the goal of allowing greater freedom of needle placement.
METHODS AND MATERIALS
The robot consists of a small tubular needle guide attached to a robotically controlled arm. The apparatus is mounted and calibrated to operate in the same coordinate frame as a standard template. Translation in x and y directions over the perineum ±40mm are possible. Needle insertion is performed manually.
RESULTS
Five patients were treated in an institutional review board-approved study. Confirmatory measurements of robotic movements for initial 3 patients using infrared tracking showed mean error of 0.489mm (standard deviation, 0.328mm). Fine adjustments in needle positioning were possible when tissue deflection was …},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
PURPOSE
Optimization of prostate brachytherapy is constrained by tissue deflection of needles and fixed spacing of template holes. We developed and clinically tested a robotic guide toward the goal of allowing greater freedom of needle placement.
METHODS AND MATERIALS
The robot consists of a small tubular needle guide attached to a robotically controlled arm. The apparatus is mounted and calibrated to operate in the same coordinate frame as a standard template. Translation in x and y directions over the perineum ±40mm are possible. Needle insertion is performed manually.
RESULTS
Five patients were treated in an institutional review board-approved study. Confirmatory measurements of robotic movements for initial 3 patients using infrared tracking showed mean error of 0.489mm (standard deviation, 0.328mm). Fine adjustments in needle positioning were possible when tissue deflection was …
Optimization of prostate brachytherapy is constrained by tissue deflection of needles and fixed spacing of template holes. We developed and clinically tested a robotic guide toward the goal of allowing greater freedom of needle placement.
METHODS AND MATERIALS
The robot consists of a small tubular needle guide attached to a robotically controlled arm. The apparatus is mounted and calibrated to operate in the same coordinate frame as a standard template. Translation in x and y directions over the perineum ±40mm are possible. Needle insertion is performed manually.
RESULTS
Five patients were treated in an institutional review board-approved study. Confirmatory measurements of robotic movements for initial 3 patients using infrared tracking showed mean error of 0.489mm (standard deviation, 0.328mm). Fine adjustments in needle positioning were possible when tissue deflection was …
Fichtinger, Gabor; Fiene, Jonathan; Kennedy, Christopher; Kronreif, Gernot; Iordachita, Iulian; Song, Danny Y; Burdette, E. Clif; Kazanzides, Peter
Robotic assistance for ultrasound-guided prostate brachytherapy Journal Article
In: Medical Image Analysis, vol. 12, no. 5, pp. 535, 2008.
@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>},
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<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>
Song, Danny Y; Fichtinger, Gabor; Fiene, Jonathan; Kennedy, Christopher; Kronreif, Gernot; Iordachita, Iulian; Burdette, E. Clif; Kazanzides, Peter
Robotic needle positioner for ultrasound-guided prostate brachytherapy Journal Article
In: Brachytherapy, vol. 7, no. 2, pp. 176 - 176, 2008, ISSN: 1538-4721.
@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},
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Kazanzides, Peter; Song, Danny Y; Fiene, Jonathan; Burdette, E. Clif; Kronreif, Gernot; Ptacek, Wolfgang; Iordachita, Iulian; Fichtinger, Gabor
Clinical Trials of a Robot Assistant for Ultrasound-Guided Prostate Brachytherapy Conference
Abstract in Minimally Invasive Therapy, 20th International Conference of the Society for Medical Innovation and Technology (SMIT), vol. 14, no. 4, 2008.
@conference{Kazanzides2008,
title = {Clinical Trials of a Robot Assistant for Ultrasound-Guided Prostate Brachytherapy},
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},
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Fichtinger, Gabor; Fiene, Jonathan; Kennedy, Christopher; Iordachita, Iulian; Kronreif, Gernot; Song, Danny Y; Burdette, E. Clif; Kazanzides, Peter
Robotic Assistance for Ultrasound Guided Prostate Brachytherapy Conference
Workshop on Clinical Image-Guided Therapy: Opportunities and Needs, 2008.
@conference{Fichtinger2008a,
title = {Robotic Assistance for Ultrasound Guided Prostate Brachytherapy},
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},
url = {https://labs.cs.queensu.ca/perklab/wp-content/uploads/sites/3/2024/02/Fichtinger2007c_0.pdf},
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Fichtinger, Gabor; Fiene, Jonathan; Kennedy, Christopher; Kronreif, Gernot; Iordachita, Iulian; Song, Danny Y; Burdette, E. Clif; Kazanzides, Peter
Robotic assistance for ultrasound guided prostate brachytherapy Journal Article
In: Medical Image Computing and Computer-Assisted Intervention (MICCAI), vol. 4791, pp. 119–127, 2007.
@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},
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<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>
Fichtinger, Gabor; Fiene, Jonathan; Kennedy, Christopher; Iordachita, Iulian; Kronreif, Gernot; Song, Danny Y; Burdette, E. Clif; Kazanzides, Peter
Robotic Assistance for Ultrasound Guided Prostate Brachytherapy Conference
The Fourth AdMeTech Foundation Conference: Ending the Era of Blind Cancer Care & Creating a Future of Image-Guided, Minimally Invasive Diagnosis & Treatment, 2007.
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title = {Robotic Assistance for Ultrasound Guided Prostate Brachytherapy},
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