A robust fluoroscope tracking (FTRAC) fiducial

Jain, Ameet; Mustufa, Tabish; Yu, Zhou; Burdette, Everette C.; Chirikjian, Gregory S.; Fichtinger, Gabor

doi:10.1117/12.595782

Cited by 16 publications

(17 citation statements)

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“…Tracking un-encoded C-arms and registering fluoroscopic images to TRUS did not have a clinically practical solution, which we have solved by using the FTRAC fiducial. 1 Thus seed matching and reconstruction remains the missing link to intraoperative dosimetry, which is addressed here.…”

Section: Motivation and Backgroundmentioning

confidence: 99%

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Matching and reconstruction of brachytherapy seeds using the Hungarian algorithm (MARSHAL)

Jain

Mustufa

et al. 2005

SPIE Proceedings

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Deterministic loading of single atoms onto arbitrary two-dimensional lattice points has recently been demonstrated, where by dynamically controlling the optical-dipole potential, atoms from a probabilistically loaded lattice were relocated to target lattice points to form a zero-entropy atomic lattice. In this atom rearrangement, how to pair atoms with the target sites is a combinatorial optimization problem: brute-force methods search all possible combinations so the process is slow, while heuristic methods are time-efficient but optimal solutions are not guaranteed. Here, we use the Hun-garian matching algorithm as a fast and rigorous alternative to this problem of defect-free atomic lattice formation. Our approach utilizes an optimization cost function that restricts collision-free guiding paths so that atom loss due to collision is minimized during rearrangement. Experiments were performed with cold rubidium atoms that were trapped and guided with holographically controlled optical-dipole traps. The result of atom relocation from a partially filled 7-by-7 lattice to a 3-by-3 target lattice strongly agrees with the theoretical analysis: using the Hungarian algorithm minimizes the collisional and trespassing paths and results in improved performance, with over 50% higher success probability than the heuristic shortest-move method.

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Section: Motivation and Backgroundmentioning

confidence: 99%

“…We seek an assignment of jobs, such that all jobs are completed, each worker gets exactly one job, and the total cost is minimized. The assignment problem is also formalized by Equation (1). The assignment problem is solved in O(N 3 ) run-time by using the Hungarian algorithm.…”

Section: Seed Matching From Two Imagesmentioning

confidence: 99%

Matching and reconstruction of brachytherapy seeds using the Hungarian algorithm (MARSHAL)

Jain

Mustufa

et al. 2005

SPIE Proceedings

Self Cite

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“…To compute x-ray image pose, we initially used a Fluoroscope TRACking fiducial (FTRAC) [19] that consists of 9 beads, 3 lines, and 2 ellipses (all radio-opaque) for the first 16 patients. While FTRAC provided excellent tracking accuracy, its many features often occluded the seeds, making seed segmentation challenging.…”

Section: Methodsmentioning

confidence: 99%

Intraoperative Registered Ultrasound and Fluoroscopy (iRUF) for dose calculation during prostate brachytherapy: Improved accuracy compared to standard ultrasound-based dosimetry

Lee

Mian

et al. 2017

Radiotherapy and Oncology

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Background and Purpose Intraoperative transrectal ultrasound dosimetry during low-dose-rate prostate brachytherapy is imprecise due to sonographic distortion caused by seed echoes and needle tracks that obscure seed positions or create false signals as well as traumatic edema. Here we report the results of a pilot study comparing a combined ultrasound and fluoroscopy-based seed localization method (iRUF) to standard ultrasound-based dosimetry (USD). Material and Methods Eighty patients undergoing permanent Pd-103 seed implantation for prostate cancer were prospectively enrolled. Seed implantation was performed using standard USD for intraoperative dose tracking. Upon implant completion, six x-ray images were intraoperatively acquired using a mobile C-arm and transverse ultrasound images of the implanted prostate were also acquired. Three-dimensional seed locations were reconstructed from x-ray images and registered to the ultrasound for iRUF dosimetry. Day 1 CT/MRI scans were performed for post-implant dosimetry. Prostate and urethral dosimetric parameters were separately calculated for analysis on iRUF, USD, and CT/MRI data sets. Differences and similarities between dosimetric values measured by iRUF, USD, and CT/MRI were assessed based on root mean squared differences, intraclass correlation coefficients (ICC), and Wilcoxon signed rank test. Results Data from 66 eligible patients were analyzed. Compared to CT/MRI, iRUF dosimetry showed higher correlation with overall ICC of 0.42 (0.01 for USD) and significantly smaller root mean squared differences (overall 16.5 vs 21.5 for iRUF and USD) than USD for all prostate and urethral dosimetric parameters examined. USD demonstrated a tendency to overestimate dose to the prostate when compared to iRUF. Conclusions iRUF approximated post-implant CT/MRI prostate and urethral dosimetry to a greater degree than USD. A phase II trial utilizing iRUF for intraoperative dynamic plan modification is underway, with the goal to confirm capability to minimize and correct for prostate underdosage not otherwise detected.

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“…A further advantage of machine-based registration is the fact that it can be computed in realtime. Machine based registration and image based 2D-3D registration have been compared by Baert et al 11 A method for determining the incidence based on tracking a fiducial was proposed by Jain et al 12 We, however, do not use any fiducials. We only use the information concerning the geometry state, as is provided by the C-arm system.…”

Section: Related Workmentioning

confidence: 99%

3D multimodality roadmapping in neuroangiography

Ruijters

Babić

Homan

et al. 2007

Medical Imaging 2007: Visualization and Image-Guided Procedures

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In this paper we describe a novel approach to using morphological datasets (such as CT or MR) in the minimally invasive image guidance of intra-arterial and intra-venous endovascular devices in neuroangiography interventions. Minimally invasive X-ray angiography procedures rely on the navigation of endovascular devices, such as guide wires and catheters, through human vessels, using C-arm fluoroscopy. While the bone structure may be visible, and the injection of iodine contrast medium allows to guide endovascular devices through the vasculature, the soft-tissue structures remain invisible in the fluoroscopic images. We intend to present a method for the combined visualization of morphological data, a 3D rotational angiography (3DRA) reconstruction and the live fluoroscopy data stream in a single image. The combination of the fluoroscopic image with the 3DRA vessel tree offers the advantage that endovascular devices can be located with respect to the vasculature, without additional contrast injection, while the position of the C-arm geometry can be altered freely. The additional visualization of the morphological data, adds contextual information to the position of endovascular devices. This article addresses the clinical applications, the real-time aspects of the registration algorithms and fast fused visualization of the proposed method.

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A robust fluoroscope tracking (FTRAC) fiducial

Cited by 16 publications

References 0 publications

Matching and reconstruction of brachytherapy seeds using the Hungarian algorithm (MARSHAL)

Matching and reconstruction of brachytherapy seeds using the Hungarian algorithm (MARSHAL)

Intraoperative Registered Ultrasound and Fluoroscopy (iRUF) for dose calculation during prostate brachytherapy: Improved accuracy compared to standard ultrasound-based dosimetry

3D multimodality roadmapping in neuroangiography

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