{"id":2393,"date":"2024-03-09T16:28:34","date_gmt":"2024-03-09T16:28:34","guid":{"rendered":"https:\/\/labs.cs.queensu.ca\/perklab\/members\/christopher-kennedy\/"},"modified":"2024-03-09T16:28:34","modified_gmt":"2024-03-09T16:28:34","slug":"christopher-kennedy","status":"publish","type":"qsc_member","link":"https:\/\/labs.cs.queensu.ca\/perklab\/members\/christopher-kennedy\/","title":{"rendered":"Christopher Kennedy"},"content":{"rendered":"
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Christopher Kennedy<\/h1>\n<\/div>\n
Postdoctoral Fellow<\/div>\n
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Johns Hopkins University<\/div>\n
Member from 2005<\/em> to 2006<\/em><\/div>\n
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Fichtinger, Gabor; Fiene, Jonathan; Kennedy, Christopher; Kronreif, Gernot; Iordachita, Iulian; Song, Danny Y; Burdette, E. Clif; Kazanzides, Peter<\/p>

Robotic assistance for ultrasound-guided prostate brachytherapy<\/a> Journal Article<\/span> <\/p>

In: <\/span>Medical Image Analysis, <\/span>vol. 12, <\/span>no. 5, <\/span>pp. 535, <\/span>2008<\/span>.<\/p>

Abstract<\/a><\/span> | Links<\/a><\/span> | BibTeX<\/a><\/span><\/p>

@article{Fichtinger2008b,
\r\ntitle = {Robotic assistance for ultrasound-guided prostate brachytherapy},
\r\nauthor = {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},
\r\nurl = {http:\/\/dx doi org\/10 1016\/j media 2008 06 002
\r\nhttps:\/\/labs.cs.queensu.ca\/perklab\/wp-content\/uploads\/sites\/3\/2024\/02\/Fichtinger2008b.pdf},
\r\ndoi = {10 1016\/j media 2008 06 002},
\r\nyear  = {2008},
\r\ndate = {2008-06-01},
\r\nurldate = {2008-06-01},
\r\njournal = {Medical Image Analysis},
\r\nvolume = {12},
\r\nnumber = {5},
\r\npages = {535},
\r\npublisher = {Queen\u2019s University; 25 Union Street;725 Goodwin Hall; Kingston; ON; Canada gabor@cs queensu ca},
\r\nabstract = {<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\u2019s 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>},
\r\nkeywords = {},
\r\npubstate = {published},
\r\ntppubtype = {article}
\r\n}
\r\n<\/pre><\/div>
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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\u2019s 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><\/div>
Close<\/a><\/p><\/div>