TY - GEN
T1 - Robotic assistance for ultrasound guided prostate brachytherapy
AU - Fichtinger, Gabor
AU - Fiene, Jonathan
AU - Kennedy, Christopher W.
AU - Kronreif, Gernot
AU - Iordachita, Iulian
AU - Song, Danny Y.
AU - Burdette, E. Clif
AU - Kazanzides, Peter
N1 - Funding Information:
We are grateful to Theodore L. DeWeese, MD, for clinical guidance; to Elwood Armour, PhD, and Yi Lee, PhD, for medical physics support; to Anton Deguet, MSc, for technical assistance during the clinical trials; to Wolfgang Ptacek, MSc; for mechanical design; to Jack Blevins, BS, for software modifications in the Interplant ® treatment planning system; to Daryl Carson, BS, for managing regulatory issues. This project could not have been possible without their unrelenting help and dedication. Our program has been financially supported by the US government, through DoD PC-050042, DoD PC050170, NIH 5R44 CA088139, NIH 1R41 CA106152, and the NSF Engineering Research Center for Computer Integrated Surgical Systems and Technology under EEC-9731748.
PY - 2007
Y1 - 2007
N2 - We present a robotically assisted prostate brachytherapy system and test results in training phantoms. The system consists of a transrectal ultrasound (TRUS) and 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 and uses the same coordinate system. Established clinical hardware, workflow and 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 and rotational errors (measured with Polaris optical tracker relative to the template's coordinate frame) were 0.25mm (STD=0.17mm) and 0.75° (STD=0.37°). The needle tip placement errors measured in TRUS were 1.04mm (STD=0.50mm). The system is in Phase-I clinical feasibility and safety trials, under Institutional Review Board approval.
AB - We present a robotically assisted prostate brachytherapy system and test results in training phantoms. The system consists of a transrectal ultrasound (TRUS) and 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 and uses the same coordinate system. Established clinical hardware, workflow and 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 and rotational errors (measured with Polaris optical tracker relative to the template's coordinate frame) were 0.25mm (STD=0.17mm) and 0.75° (STD=0.37°). The needle tip placement errors measured in TRUS were 1.04mm (STD=0.50mm). The system is in Phase-I clinical feasibility and safety trials, under Institutional Review Board approval.
UR - http://www.scopus.com/inward/record.url?scp=79551681396&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=79551681396&partnerID=8YFLogxK
U2 - 10.1007/978-3-540-75757-3_15
DO - 10.1007/978-3-540-75757-3_15
M3 - Conference contribution
C2 - 18051051
AN - SCOPUS:79551681396
SN - 9783540757566
T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
SP - 119
EP - 127
BT - Medical Image Computing and Computer-Assisted Intervention - 10th International Conference, Proceedings
PB - Springer Verlag
T2 - 10th International Conference on Medical Image Computing and Computer-Assisted Intervention, MICCAI 2007
Y2 - 29 October 2007 through 2 November 2007
ER -