Publications

@article{Jain2005c,

title = {Towards Intra-Operative Dosimetry in Prostate Brachytherapy},

author = {Ameet K. Jain and Yu Zhou and Christopher Kennedy and Tabish Mustufa and E. Clif Burdette and Gregory Chirikjian and Gabor Fichtinger},

url = {http://link aip org/link/?MPH/32/2159/1

https://labs.cs.queensu.ca/perklab/wp-content/uploads/sites/3/2024/02/Jain2005c.pdf},

doi = {10 1118/1 1998646},

year  = {2005},

date = {2005-01-01},

urldate = {2005-01-01},

journal = {Journal of Medical Physics},

volume = {32},

number = {6},

pages = {2159-2159},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{Kemper2005,

title = {Transrectal Fiducial Carrier for Radiographic Image Registration in Prostate Brachytherapy},

author = {Jacob Kemper and Astrid Burkholder and Ameet K. Jain and Tabish Mustufa and Keenan Wyrobek and E. Clif Burdette and Danny Y Song and Allison Okamura and Gabor Fichtinger},

url = {http://link aip org/link/?MPH/32/2108/2

https://labs.cs.queensu.ca/perklab/wp-content/uploads/sites/3/2024/02/Kemper2005.pdf},

doi = {10 1118/1 1998447},

year  = {2005},

date = {2005-01-01},

urldate = {2005-01-01},

journal = {Journal of Medical Physics},

volume = {32},

number = {6},

pages = {2108-2108},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{fichtinger2005c,

title = {FTRAC—A robust fluoroscope tracking fiducial},

author = {Ameet Kumar Jain and Tabish Mustafa and Yu Zhou and Clif Burdette and Gregory S Chirikjian and Gabor Fichtinger},

url = {https://aapm.onlinelibrary.wiley.com/doi/abs/10.1118/1.2047782},

year  = {2005},

date = {2005-01-01},

journal = {Medical physics},

volume = {32},

issue = {10},

pages = {3185-3198},

publisher = {American Association of Physicists in Medicine},

abstract = {‐arm fluoroscopy is ubiquitous in contemporary surgery, but it lacks the ability to accurately reconstruct three‐dimensional (3D) information. A major obstacle in fluoroscopic reconstruction is discerning the pose of the x‐ray image, in 3D space. Optical/magnetic trackers tend to be prohibitively expensive, intrusive and cumbersome in many applications. We present single‐image‐based fluoroscope tracking (FTRAC) with the use of an external radiographic fiducial consisting of a mathematically optimized set of ellipses, lines, and points. This is an improvement over contemporary fiducials, which use only points. The fiducial encodes six degrees of freedom in a single image by creating a unique view from any direction. A nonlinear optimizer can rapidly compute the pose of the fiducial using this image. The current embodiment has salient attributes: small dimensions ; need not be close to the anatomy of interest; and …},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{fichtinger2005d,

title = {CIS-UltraCal: An open-source ultrasound calibration toolkit},

author = {Ryan Kon and Joshua Leven and Kishore Kothapalli and Emad Boctor and Gabor Fichtinger and Greg Hager and Russell H Taylor},

url = {https://www.spiedigitallibrary.org/conference-proceedings-of-spie/5750/0000/CIS-UltraCal-an-open-source-ultrasound-calibration-toolkit/10.1117/12.596929.short},

year  = {2005},

date = {2005-01-01},

volume = {5750},

pages = {516-523},

publisher = {SPIE},

abstract = {We present an open-source MATLAB toolkit for ultrasound calibration. It has a convenient graphical user interface which sits on top of an extensive API. Calibration using three different phantoms is explicitly supported: the cross-wire phantom, the single-wall phantom, and the Hopkins phantom. Image processing of the Hopkins phantom is automated by making use of techniques from binary morphology, radon transform and RANSAC. Numerous calibration and termination parameters are exposed. It is also modular, allowing one to apply the system to original phantoms by writing a minimum of new code.},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{fichtinger2005e,

title = {Precision placement of instruments for minimally invasive procedures using a “needle driver” robot},

author = {K Cleary and V Watson and D Lindisch and RH Taylor and G Fichtinger and S Xu and CS White and J Donlon and M Taylor and A Patriciu and D Mazilu and D Stoianovici},

url = {https://onlinelibrary.wiley.com/doi/abs/10.1002/rcs.40},

year  = {2005},

date = {2005-01-01},

journal = {The International Journal of Medical Robotics and Computer Assisted Surgery},

volume = {1},

issue = {2},

pages = {40-47},

publisher = {John Wiley & Sons, Ltd.},

abstract = {Medical practice continues to move toward less invasive procedures. Many of these procedures require the precision placement of a needle in the anatomy. Over the past several years, our research team has been investigating the use of a robotic needle driver to assist the physician in this task. This paper summarizes our work in this area. The robotic system is briefly described, followed by a description of a clinical trial in spinal nerve blockade. The robot was used under joystick control to place a 22 gauge needle in the spines of 10 patients using fluoroscopic imaging. The results were equivalent to the current manual procedure. We next describe our follow‐up clinical application in lung biopsy for lung cancer screening under CT fluoroscopy. The system concept is discussed and the results of a phantom study are presented. A start‐up company named ImageGuide has recently been formed to commercialize the …},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{fichtinger2005f,

title = {Transcavital needle insertion device},

url = {https://patents.google.com/patent/US20050203413A1/en},

year  = {2005},

date = {2005-01-01},

abstract = {Disclosed is a transcavital needle insertion device that incorporates a transrectal ultrasound (TRUS) probe; a support sheath incorporated with, but mechanically decoupled from the TRUS probe to substantially stabilize the target tissue being imaged; and a needle guide sheath that moves relative to the TRUS probe. The device substantially enables a practitioner to more accurately and precisely insert a therapeutic needle into a target tissue, such as a prostate, in a decoupled three degree of freedom coordinate space that is registered to the imagery generated from the TRUS probe. The support sheath may enable the practitioner to move the TRUS probe, and independently position and insert the needle, without problems brought about by variable deformation of the target tissue, which would otherwise result from motion of the TRUS probe and the needle.},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{fichtinger2005g,

title = {C-arm calibration–is it really necessary?},

author = {Ameet Jain and Ryan Kon and Yu Zhou and Gabor Fichtinger},

url = {https://link.springer.com/chapter/10.1007/11566465_79},

year  = {2005},

date = {2005-01-01},

pages = {639-646},

publisher = {Springer Berlin Heidelberg},

abstract = {C-arm fluoroscopy is modelled as a perspective projection, the parameters of which are estimated through a calibration procedure. It has been universally accepted that precise intra-procedural calibration is a prerequisite for accurate quantitative C-arm fluoroscopy guidance. Calibration, however, significantly adds to system complexity, which is a major impediment to clinical practice. We challenge the status quo by questioning the assumption that precise intra-procedural calibration is really necessary. We derived theoretical bounds for the sensitivity of 3D measurements to mis-calibration. Experimental results corroborated the theory in that mis-calibration in the focal spot by as much as 50 mm still allows for tracking with an accuracy of 0.5 mm in translation and 0.65 o in rotation, and such mis-calibration does not impose any additional error on the reconstruction of small objects.},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{fichtinger2005h,

title = {Registration of ultrasound to fluoroscopy for real time optimization of radiation implant procedures},

url = {https://patents.google.com/patent/US20050171428A1/en},

year  = {2005},

date = {2005-01-01},

abstract = {Transrectal ultrasound guided transperineal low dose-rate brachytherapy has been emerged as one of the definitive treatments of low-risk prostate cancer. Ultrasound has been an excellent tool in guiding the implant needles with respect to prostate anatomy, yet it cannot show reliably the location of radioactive Seeds after they are released in the prostate. Intraoperative C-arm fluoroscopy can show the implanted Seeds, but it cannot detect prostate anatomy. Intra-operative fusion of these two complementary modalities offerS Sig nificant clinical benefit by allowing for real-time optimiza tion of the brachytherapy implant as the procedure progresses in the operating room. Disclosed is a System and method for mitigating this problem and providing registra tion of Seeds Seen by fluoroscopy with live prostate anatomy Visualized by transrectal ultrasound.},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{fichtinger2005i,

title = {Image guided interventions with interstitial or transmission ultrasound},

author = {Emad Boctor and Gabor Fichtinger},

url = {https://patents.google.com/patent/US20050261591A1/en},

year  = {2005},

date = {2005-01-01},

urldate = {2005-01-01},

abstract = {Disclosed is a system and method for providing image guidance for medical procedures in which an interstitial ultrasound probe is inserted into the tissue surrounding a tumor. The interstitial ultrasound probe is designed to “ride” in the surrounding tissue so that it may move in conjunction with the tumor and provide intra-operative imagery. A surgeon may guide a surgical instrument and perform interventions such as ablation while tracking the tumor in the ultrasound imagery. The position and orientation of the interstitial ultrasound probe and the surgical instrument are measured throughout the medical procedure to enable either the surgeon, or a robotic arm, to guide the surgical instrument such that it may move in conjunction with the tumor.},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{fichtinger2005j,

title = {Ultrasound strain imaging in tissue therapies},

author = {Emad Boctor and Gabor Fichtinger},

url = {https://patents.google.com/patent/US20050267368A1/en},

year  = {2005},

date = {2005-01-01},

urldate = {2005-01-01},

abstract = {Disclosed is a system and method for providing ultrasound strain imaging of a soft tissue, such as a prostate, so that the soft tissue may be more precisely targeted during radiation treatment. The system includes a mechanical arm with a pressure interface for applying incremental pressure to the patient's abdomen, and a data system for correlating the ultrasound signals acquired before and after each application of incremental pressure. By correlating the pre and post-pressure ultrasound signals, acoustic interfaces corresponding to the prostate, which define the contours of the prostate, may be displayed. Further, data corresponding to the contours of the prostate may be provided to a linear accelerator to enable the linear accelerator to more precisely target the prostate.},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{fichtinger0000j,

title = {Physiologic Measurements A New Approach to Accurate Measurement of Uniaxial Joint Angles Based on a Combination of Accelerometers and Gyroscopes …},

author = {N Pavšelj and Z Bregar and D Cukjati and D Batiuskaite and LM Mir and D Miklavcic and PY Guméry and H Roux-Buisson and S Meignen and FL Comyn and M Dematteis and B Wuyam and JL Pépin and P Lévy and SD Georgiadis and PO Ranta-aho and MP Tarvainen and PA Karjalainen and GJ Bootsma and GW Brodland and G Fichtinger and A Deguet and K Masamune and E Balogh and GS Fischer and H Mathieu and RH Taylor and SJ Zinreich and LM Fayad},

url = {https://ieeexplore.ieee.org/abstract/document/1463323/},

year  = {2005},

date = {2005-01-01},

abstract = {Presents the table of contents for this issue of the periodical.},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{fichtinger2005m,

title = {TH‐C‐J‐6B‐02: Towards Intra‐Operative Dosimetry in Prostate Brachytherapy},

author = {A Jain and Yun Zhou and C Kennedy and T Mustufa and C Burdette and G Chirikjian and G Fichtinger},

url = {https://aapm.onlinelibrary.wiley.com/doi/abs/10.1118/1.1998646},

year  = {2005},

date = {2005-01-01},

journal = {Medical Physics},

volume = {32},

issue = {6Part21},

pages = {2159-2159},

publisher = {American Association of Physicists in Medicine},

abstract = {Purpose 

Intra‐operative dosimetric optimization of TRUS‐guided prostate brachytherapy implants requires localization of seeds relative to prostate [1]. Analytical tools are available to intra‐operatively tailor an implant‐plan, thereby accounting for inevitable deviations [2]. 

Method and Materials 

The majority of the practitioners have C‐arm fluoroscopes in the treatment room, making intra‐operative dosimetry feasible with little additional cost. The obstacles towards intra‐operative dosimetry are: (a) discerning the 3D poses of fluoro images, (b) registering fluoroscopy to TRUS, and (c) establish seed correspondences in multiple fluoro images. We address the first two issues by single‐image‐based fluoroscope tracking (FTRAC) fiducial with salient attributes: small dimensions (3×3×5cm); need not be close to the anatomy of interest; auto‐segmentable; and mathematically robust to segmentation, calibration, and image …},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{fichtinger2005k,

title = {Image-guided robot system for small animal research},

author = {JC Li and E Balogh and I Iordachita and G Fichtinger and P Kazanzides},

url = {http://perk.cs.queensu.ca/sites/perk.cs.queensu.ca/files/Li2005.pdf},

year  = {2005},

date = {2005-01-01},

journal = {1st International Conference on Complex Medical Engineering (CME)},

pages = {194-198},

abstract = {We developed an image-guided robot system to achieve highly accurate placement of thin needles and probes into in-vivo rodent tumor tissue in a predefined pattern of about 1 mm granularity that is specified on a preoperative image. This development is part of a collaborative project between Johns Hopkins University (JHU) and Memorial Sloan-Kettering Cancer Center (MSKCC). This paper presents the design and validation of the robot system that we constructed and delivered to MSKCC.},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{fichtinger2005l,

title = {TU‐EE‐A1‐06: Transrectal fiducial carrier for radiographic image registration in prostate brachytherapy},

author = {J Kemper and A Burkholder and A Jain and T Mustufa and K Wyrobek and C Burdette and D Song and A Okamura and G Fichtinger},

url = {https://aapm.onlinelibrary.wiley.com/doi/abs/10.1118/1.1998447},

year  = {2005},

date = {2005-01-01},

journal = {Medical physics},

volume = {32},

issue = {6Part17},

pages = {2108-2108},

publisher = {American Association of Physicists in Medicine},

abstract = {Motivation 

Intraoperative dosimetric optimization of TRUS‐guided prostate brachytherapy implants requires localization of seeds relative to prostate[1], for which radiographic fiducial‐based registration of fluoroscopy and TRUS seems appropriate[2,3]. It is critical to mount the fiducials rigidly and stabilize the prostate, because TRUS and fluoroscopy are sequential and the moving TRUS probe may dislocate the prostate. Transrectal approach provides the shortest distance to the implanted seeds and prostate, thereby maximizing registration accuracy. 

Method and Materials 

A precision‐machined transrectal sheath containing fiducials is mounted rigidly on the stepper and wraps around the TRUS probe. It mechanically decouples the prostate from the TRUS probe and thus stabilizes the prostate. Acoustic impedance, wall thickness, and diameter were optimized. Acoustic coupling is maintained by circulating liquid gel …},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{Shen2004a,

title = {Optimized prostate biopsy via a statistical atlas of cancer spatial distribution},

author = {Dinggang Shen and Zhiqiang Lao and Jianchao Zeng and Wei Zhang and Isabel Sesterhenn and Leon Sun and Judd Moul and Edward Herskovits and Gabor Fichtinger and Christos Davatzikos},

url = {http://dx doi org/10 1016/j media 2003 11 002},

doi = {10 1016/j media 2003 11 002},

year  = {2004},

date = {2004-06-01},

urldate = {2004-06-01},

journal = {Medical image analysis},

volume = {8},

number = {2},

pages = {139–150},

abstract = {<p>A methodology is presented for constructing a statistical atlas of spatial distribution of prostate cancer from a large patient cohort, and it is used for optimizing needle biopsy An adaptive-focus deformable model is used for the spatial normalization, registration of 100 prostate histological samples, which were provided by the Center for Prostate Disease Research of the US Department of Defense, resulting in a statistical atlas of spatial distribution of prostate cancer Based on this atlas, a statistical predictive model was developed to optimize the needle biopsy sites, by maximizing the probability of detecting cancer Experimental results using cross-validation show that the proposed method can detect cancer with a 99% success rate using seven needles, in these samples</p>},

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pubstate = {published},

tppubtype = {article}

}