Publications

@article{Boctor2004d,

title = {Virtual remote center of motion control for needle placement robots},

author = {Emad Boctor and Robert Webster and Herve Mathieu and Allison Okamura and Gabor Fichtinger},

url = {https://labs.cs.queensu.ca/perklab/wp-content/uploads/sites/3/2024/02/Boctor2003b.pdf},

year  = {2004},

date = {2004-01-01},

urldate = {2004-01-01},

journal = {Journal of Computer Assisted Surgery},

volume = {9 (5)},

pages = {175-183},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{Balogh2004,

title = {Visualization, Planning, and Monitoring Software for MRI-Guided Prostate Intervention Robot},

author = {Emese Balogh and Anton Degeut and Robert Susil and Axel Krieger and Anand Viswanathan and Cynthia Menard and Jonathan Coleman and Gabor Fichtinger},

url = {https://labs.cs.queensu.ca/perklab/wp-content/uploads/sites/3/2024/02/Balogh2004.pdf},

year  = {2004},

date = {2004-01-01},

urldate = {2004-01-01},

journal = {Proceedings Lecture Notes in Computer Science Medical Image Computing and Computer-Assisted Intervention (MICCAI)},

volume = {3217},

pages = {73-80},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{fichtinger2004f,

title = {Registration and Real-Time Tracking of a Needle Placement Robot in CT-Guided Procedures},

author = {Sheng Xu and Kevin Cleary and Dan Stoianovici and Gabor Fichtinger},

url = {https://scholar.google.com/scholar?cluster=5927541177182184869&hl=en&oi=scholarr},

year  = {2004},

date = {2004-01-01},

journal = {IEEE Transactions on Robotics and Automation},

abstract = {Computed Tomography (CT) guided percutaneous needle placement is a widely accepted practice in the medical field. The efficacy of these procedures is strongly related to the accuracy of needle placement. Currently applied freehand techniques have limitations in accuracy, particularly when treating small or deeply situated targets. In response to this problem, we propose a robotically assisted needle placement system incorporating a mobile CT scanner, a needle insertion robot, and a real-time optical localizer. This paper presents the overall systems concept and concentrates on registration and tracking of the needle driver robot. We also present initial accuracy results using an abdominal phantom.},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{fichtinger2004g,

title = {Medical robotics workshop–MRWS},

author = {Kevin Cleary and Brian Davies and Gabor Fichtinger and Jocelyne Troccaz and Tim Lueth and Vance Watson},

url = {https://www.tandfonline.com/doi/full/10.3109/10929080500097695},

year  = {2004},

date = {2004-01-01},

journal = {Computer Aided Surgery},

volume = {9},

issue = {4},

pages = {167-171},

publisher = {Taylor & Francis},

abstract = {A one-day workshop on Medical Robotics was held on June 25, 2003, at Imperial College, London, England, as part of the Computer Aided Radiology and Surgery (CARS) meeting. The goal of the workshop was to examine issues related to the development of medical robotics and the problems that are delaying the more widespread adoption of this technology. The workshop participants were an interdisciplinary mix of over 40 people from the medical fields of neurosurgery, interventional radiology, and orthopedics, among others, and the technical fields of engineering, computer science, imaging science, and physics. Industrial representatives were also included. The workshop consisted of morning plenary sessions with twelve speakers, followed by three breakout groups meeting in the afternoon. The breakout groups then summarized their conclusions in a final plenary session. A list of participants and their …},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{fichtinger2004b,

title = {Immediate ultrasound calibration with three poses and minimal image processing},

author = {Anand Viswanathan and Emad M Boctor and Russell H Taylor and Gregory Hager and Gabor Fichtinger},

url = {https://link.springer.com/chapter/10.1007/978-3-540-30136-3_55},

year  = {2004},

date = {2004-01-01},

pages = {446-454},

publisher = {Springer Berlin Heidelberg},

abstract = {This paper introduces a novel method for ultrasound (US) probe calibration based on closed-form formulation and using minimal US imaging allowing for an immediate result. Prior to calibration, a position sensor is used to track each image in 3D space while the US image is used to determine target location within the image. The calibration procedure uses these two pieces of information to determine the transformation (translation, rotation, and scaling) of the scan plane with respect to the position sensor. We utilize a closed form solution from two motions of the US probe relying on optical digitization with a calibrated pointer to replace with a great extent the traditional segmentation of points/planes in US images. The tracked pointer appeared to introduce significantly less error than the resolution of the US image caused in earlier approaches. Our method also uses significantly fewer US images and …},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{fichtinger2004c,

title = {Robotic strain imaging for monitoring thermal ablation of liver},

author = {Emad M Boctor and Gabor Fichtinger and Ambert Yeung and Michael Awad and Russell H Taylor and Michael A Choti},

url = {https://link.springer.com/chapter/10.1007/978-3-540-30136-3_11},

year  = {2004},

date = {2004-01-01},

pages = {81-88},

publisher = {Springer Berlin Heidelberg},

abstract = {This report describes our initial in vitro results with robotically-assisted strain imaging for intraoperative monitoring of hepatic tumor thermal ablation. First, we demonstrate a strong correlation between thermal ablation of liver tissue and changes in elastic properties. Second, we present an experimental environment to provide controlled robotically-assisted compression of liver tissue with concurrent ultrasonic reading. Third, we present B-mode strain images of thermally treated liver samples, where the strain images corresponded to the boundaries of histologically confirmed necrosis.},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{fichtinger2004d,

title = {Needle insertion in CT scanner with image overlay–cadaver studies},

author = {Gabor Fichtinger and Anton Deguet and Ken Masamune and Emese Balogh and Gregory Fischer and Herve Mathieu and Russell H Taylor and Laura M Fayad and S James Zinreich},

url = {https://link.springer.com/chapter/10.1007/978-3-540-30136-3_97},

year  = {2004},

date = {2004-01-01},

pages = {795-803},

publisher = {Springer Berlin Heidelberg},

abstract = {An image overlay system is presented to assist needle placement in conventional CT scanners. The device consists of a flat LCD display and a half mirror and is mounted on the gantry. Looking at the patient through the mirror, the CT image appears to be floating inside the patient with correct size and position, thereby providing the physician with two-dimensional “X-ray vision” to guide needle placement procedures. The physician inserts the needle following the optimal path identified in the CT image that is rendered on the LCD and thereby reflected in the mirror. The system promises to increase needle placement accuracy and also to reduce X-ray dose, patient discomfort, and procedure time by eliminating faulty insertion attempts. We report cadaver experiments in several clinical applications with a clinically applicable device.},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{fichtinger2004e,

title = {Visualization, planning, and monitoring software for MRI-guided prostate intervention robot},

author = {Emese Balogh and Anton Deguet and Robert C Susil and Axel Krieger and Anand Viswanathan and Cynthia Ménard and Jonathan A Coleman and Gabor Fichtinger},

url = {https://link.springer.com/chapter/10.1007/978-3-540-30136-3_10},

year  = {2004},

date = {2004-01-01},

pages = {73-80},

publisher = {Springer Berlin Heidelberg},

abstract = {This paper reports an interactive software interface for visualization, planning, and monitoring of intra-prostatic needle placement procedures performed with a robotic assistant device inside standard cylindrical high-field magnetic resonance imaging (MRI) scanner. We use anatomical visualization and image processing techniques to plan the process and apply active tracking coils to localize the robot in real-time to monitor its motion relative to the anatomy. The interventional system is in Phase-I clinical trials for prostate biopsy and marker seed placement. The system concept, mechanical design, and in-vivo canine studies have been presented earlier [6,10,14]. The software architecture and three-dimensional application software interface discussed in this paper are new additions. This software was tested on pre-recorded patient data.},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{fichtinger2004h,

title = {1792: Technique and Accuracy of a Clinical System for Transrectal Intraprostatic Needle Placement in a Standard 1.5 T MRI Scanner},

author = {Robert C Susil and Jonathan A Coleman and Axel Krieger and Kevin Camphausen and C Norman Coleman and W Marston Linehan and Gabor Fichtinger and Louis L Whitcomb and Ergin Atalar and Cynthia Ménard},

url = {https://www.auajournals.org/doi/pdf/10.1016/S0022-5347%2818%2938984-5},

year  = {2004},

date = {2004-01-01},

journal = {The Journal of Urology},

volume = {171},

issue = {4S},

pages = {473-474},

publisher = {Wolters Kluwer},

abstract = {METHODS: Ejaculates were collected from patients who were to undergo prostate biopsy, patients who were normal and age matched, and patients who were undergoing routine fertility examination in a fertility/andrology laboratory. Samples were frozen until they were examined by a competitive immunoassay for HCA in triplicate. The method was similar to the competitive serum assay reported by Codington, et. al., JNCI 1984; 73 (5): I 029-1037 with the exception of the sample dilution levels. PSA levels were measured on corresponding serum samples. Data were analyzed with Receiver Operator Curve (ROC) methods. RESULTS: Patient samples were categorized (9 cancer and 75 non-cancer) and ROC analysis provided the following results; AUC 0.929, cutoff 190, Sensitivity 100%, Specificity 83%. Age and HCA level and PSA versus HCA level were uncorrelated (R2= 6E-06},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{fichtinger2004i,

title = {CISUS: An Integrated 3D Ultrasound System for IGT Using a Modular Tracking API},

author = {Russell H Taylor and Ron Kikinis and Gabor Fichtinger and Emad M Doctor and Anand Viswanathan and Steve Pieper and Michael A Choti},

url = {https://scholar.google.com/scholar?cluster=8204403075175708682&hl=en&oi=scholarr},

year  = {2004},

date = {2004-01-01},

journal = {Medical Imaging 2004: 15-17 February 2004, San Diego, California, USA},

pages = {247},

publisher = {Society of Photo Optical},

abstract = {Ultrasound has become popular in clinical/surgical applications, both as the primary image guidance modality and also in conjunction with other modalities like CT or MRJ. Three dimensional ultrasound (3DUS) systems have also demonstrated usefulness in image-guided therapy (IGT). At the same time, however, current lack of open-source and open-architecture multi-modal medical visualization systems prevents 3DUS from fulfilling its potential. Several standalone 3DUS systems, like Stradx or hi-Vivo exist today. Although these systems have been found to be useful in real clinical setting, it is difficult to augment their functionality and integrate them in versatile IGT systems. To address these limitations, a robotic/freehand 3DUS open environment (CISUS) is being integrated into the 3D Slicer, an opensource research tool developed for medical image analysis and surgical planning, hi addition, the system capitalizes on generic application programming interfaces (APIs) for tracking devices and robotic control. The resulting platformindependent open-source system may serve as a valuable tool to the image guided surgery community. Other researchers could straightforwardly integrate the generic CISUS system along with other functionalities (ie dual view visualization, registration, real-time tracking, segmentation, etc...) to rapidly create their medical/surgical applications. Our current driving clinical application is robotically assisted and freehand 3DUS-guided liver ablation, which is fully being integrated under the CISUS-3D Slicer. Initial functionality and pre-clinical feasibility are demonstrated on phantom and ex-vivo animal models.},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{Susil2003,

title = {System for MR image-guided prostate interventions: canine study},

author = {Robert Susil and Axel Krieger and Andrew Derbyshire and Attila Tanacs and Louis L. Whitcomb and Gabor Fichtinger and Ergin Atalar},

url = {http://dx doi org/10 1148/radiol 2283020911

https://labs.cs.queensu.ca/perklab/wp-content/uploads/sites/3/2024/02/Susil2003.pdf},

doi = {10 1148/radiol 2283020911},

year  = {2003},

date = {2003-09-01},

urldate = {2003-09-01},

journal = {Radiology},

volume = {228},

number = {3},

pages = {886–894},

abstract = {<p>The purpose of this study was to demonstrate the use of a transrectal system that enables precise magnetic resonance (MR) image guidance, monitoring of prostate interventions The system used a closed-bore 1 5-T MR imaging unit, enables one to take advantage of the higher signal-to-noise ratio achieved with traditional magnet designs, which is crucial for accurate targeting, monitoring of prostate interventions In the first of the four canine studies, reliable needle placement, with all needles placed within 2 mm of the desired target site, was achieved In two other studies, MR imaging was used to monitor distribution of injected contrast agent solution (gadopentetate dimeglumine mixed with trypan blue dye) in, around the prostate, thereby confirming that solution had been delivered to the desired tissue, also detecting faulty injections In the final study, accurate placement, MR imaging of brachytherapy seeds in the prostate were demonstrated The described system provides a flexible platform for a variety of minimally invasive MR image-guided therapeutic, diagnostic prostate interventions</p>},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{Fichtinger2003,

title = {Image Registration of multiple medical imaging modalities using a multiple degree-of-freedom-encoded fiducial},

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

year  = {2003},

date = {2003-01-01},

urldate = {2003-01-01},

number = {60/493,406},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{Fichtinger2003b,

title = {Image Registration of multiple medical imaging modalities using a multiple degree-of-freedom-encoded fiducial},

year  = {2003},

date = {2003-01-01},

number = {60/493,406},

keywords = {},

pubstate = {published},

tppubtype = {article}

}