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506 results on '"Kazanzides, Peter"'

61. Calibration and evaluation of a motion measurement system for PET imaging studies

Author

Wang, Junxiang, Wu, Ti, Iordachita, Iulian I., Kazanzides, Peter, Wang, Junxiang, Wu, Ti, Iordachita, Iulian I., and Kazanzides, Peter

Abstract

Positron Emission Tomography (PET) enables functional imaging of deep brain structures, but the bulk and weight of current systems preclude their use during many natural human activities, such as locomotion. The proposed long-term solution is to construct a robotic system that can support an imaging system surrounding the subject's head, and then move the system to accommodate natural motion. This requires a system to measure the motion of the head with respect to the imaging ring, for use by both the robotic system and the image reconstruction software. We report here the design, calibration, and experimental evaluation of a parallel string encoder mechanism for sensing this motion. Our results indicate that with kinematic calibration, the measurement system can achieve accuracy within 0.5mm, especially for small motions., Comment: arXiv admin note: text overlap with arXiv:2311.17863

Published
2023
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62. Method for robotic motion compensation during PET imaging of mobile subjects

Author

Wang, Junxiang, Iordachita, Iulian I., Kazanzides, Peter, Wang, Junxiang, Iordachita, Iulian I., and Kazanzides, Peter

Abstract

Studies of the human brain during natural activities, such as locomotion, would benefit from the ability to image deep brain structures during these activities. While Positron Emission Tomography (PET) can image these structures, the bulk and weight of current scanners are not compatible with the desire for a wearable device. This has motivated the design of a robotic system to support a PET imaging system around the subject's head and to move the system to accommodate natural motion. We report here the design and experimental evaluation of a prototype robotic system that senses motion of a subject's head, using parallel string encoders connected between the robot-supported imaging ring and a helmet worn by the subject. This measurement is used to robotically move the imaging ring (coarse motion correction) and to compensate for residual motion during image reconstruction (fine motion correction). Minimization of latency and measurement error are the key design goals, respectively, for coarse and fine motion correction. The system is evaluated using recorded human head motions during locomotion, with a mock imaging system consisting of lasers and cameras, and is shown to provide an overall system latency of about 80 ms, which is sufficient for coarse motion correction and collision avoidance, as well as a measurement accuracy of about 0.5 mm for fine motion correction., Comment: 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

Published
2023

63. Fusion of Inertial Sensing to Compensate for Partial Occlusions in Optical Tracking Systems

Author

He, Changyu, Şen, H. Tutkun, Kim, Sungmin, Sadda, Praneeth, Kazanzides, Peter, Hutchison, David, Series editor, Kanade, Takeo, Series editor, Kittler, Josef, Series editor, Kleinberg, Jon M., Series editor, Kobsa, Alfred, Series editor, Mattern, Friedemann, Series editor, Mitchell, John C., Series editor, Naor, Moni, Series editor, Nierstrasz, Oscar, Series editor, Pandu Rangan, C., Series editor, Steffen, Bernhard, Series editor, Terzopoulos, Demetri, Series editor, Tygar, Doug, Series editor, Weikum, Gerhard, Series editor, Linte, Cristian A., editor, Yaniv, Ziv, editor, Fallavollita, Pascal, editor, Abolmaesumi, Purang, editor, and Holmes, David R., III, editor

Published
2014
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70. Interactive OCT Annotation and Visualization for Vitreoretinal Surgery

Author

Balicki, Marcin, Richa, Rogerio, Vagvolgyi, Balazs, Kazanzides, Peter, Gehlbach, Peter, Handa, James, Kang, Jin, Taylor, Russell, Hutchison, David, editor, Kanade, Takeo, editor, Kittler, Josef, editor, Kleinberg, Jon M., editor, Mattern, Friedemann, editor, Mitchell, John C., editor, Naor, Moni, editor, Nierstrasz, Oscar, editor, Pandu Rangan, C., editor, Steffen, Bernhard, editor, Sudan, Madhu, editor, Terzopoulos, Demetri, editor, Tygar, Doug, editor, Vardi, Moshe Y., editor, Weikum, Gerhard, editor, Linte, Cristian A., editor, Chen, Elvis C. S., editor, Berger, Marie-Odile, editor, Moore, John T., editor, and Holmes, David R., III, editor

Published
2013
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72. A phantom-based analysis for tracking intra-fraction pancreatic tumor motion by ultrasound imaging during radiation therapy

Author

Ji, Tianlong, primary, Feng, Ziwei, additional, Sun, Edward, additional, Ng, Sook Kien, additional, Su, Lin, additional, Zhang, Yin, additional, Han, Dong, additional, Han-Oh, Sarah, additional, Iordachita, Iulian, additional, Lee, Junghoon, additional, Kazanzides, Peter, additional, Bell, Muyinatu A. Lediju, additional, Wong, John, additional, and Ding, Kai, additional

Published
2022
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74. An Iterative Framework for Improving the Accuracy of Intraoperative Intensity-Based 2D/3D Registration for Image-Guided Orthopedic Surgery

Author

Otake, Yoshito, Armand, Mehran, Sadowsky, Ofri, Armiger, Robert S., Kazanzides, Peter, Taylor, Russell H., Hutchison, David, editor, Kanade, Takeo, editor, Kittler, Josef, editor, Kleinberg, Jon M., editor, Mattern, Friedemann, editor, Mitchell, John C., editor, Naor, Moni, editor, Nierstrasz, Oscar, editor, Pandu Rangan, C., editor, Steffen, Bernhard, editor, Sudan, Madhu, editor, Terzopoulos, Demetri, editor, Tygar, Doug, editor, Vardi, Moshe Y., editor, Weikum, Gerhard, editor, Navab, Nassir, editor, and Jannin, Pierre, editor

Published
2010
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75. Precision Radiotherapy for Small Animal Research

Author

Matinfar, Mohammad, Iordachita, Iulian, Ford, Eric, Wong, John, Kazanzides, Peter, Hutchison, David, Series editor, Kanade, Takeo, Series editor, Kittler, Josef, Series editor, Kleinberg, Jon M., Series editor, Mattern, Friedemann, Series editor, Mitchell, John C., Series editor, Naor, Moni, Series editor, Nierstrasz, Oscar, Series editor, Pandu Rangan, C., Series editor, Steffen, Bernhard, Series editor, Sudan, Madhu, Series editor, Terzopoulos, Demetri, Series editor, Tygar, Doug, Series editor, Vardi, Moshe Y., Series editor, Weikum, Gerhard, Series editor, Metaxas, Dimitris, editor, Axel, Leon, editor, Fichtinger, Gabor, editor, and Székely, Gábor, editor

Published
2008
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76. Small Animal Radiation Research Platform: Imaging, Mechanics, Control and Calibration

Author

Matinfar, Mohammad, Gray, Owen, Iordachita, Iulian, Kennedy, Chris, Ford, Eric, Wong, John, Taylor, Russell H., Kazanzides, Peter, Hutchison, David, editor, Kanade, Takeo, editor, Kittler, Josef, editor, Kleinberg, Jon M., editor, Mattern, Friedemann, editor, Mitchell, John C., editor, Naor, Moni, editor, Nierstrasz, Oscar, editor, Pandu Rangan, C., editor, Steffen, Bernhard, editor, Sudan, Madhu, editor, Terzopoulos, Demetri, editor, Tygar, Doug, editor, Vardi, Moshe Y., editor, Weikum, Gerhard, editor, Ayache, Nicholas, editor, Ourselin, Sébastien, editor, and Maeder, Anthony, editor

Published
2007
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77. Robotic Assistance for Ultrasound Guided Prostate Brachytherapy

Author

Fichtinger, Gabor, Fiene, Jonathan, Kennedy, Christopher W., Kronreif, Gernot, Iordachita, Iulian I., Song, Danny Y., Clif Burdette, E., Kazanzides, Peter, Hutchison, David, editor, Kanade, Takeo, editor, Kittler, Josef, editor, Kleinberg, Jon M., editor, Mattern, Friedemann, editor, Mitchell, John C., editor, Naor, Moni, editor, Nierstrasz, Oscar, editor, Pandu Rangan, C., editor, Steffen, Bernhard, editor, Sudan, Madhu, editor, Terzopoulos, Demetri, editor, Tygar, Doug, editor, Vardi, Moshe Y., editor, Weikum, Gerhard, editor, Ayache, Nicholas, editor, Ourselin, Sébastien, editor, and Maeder, Anthony, editor

Published
2007
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78. Design and Validation of an Image-Guided Robot for Small Animal Research

Author

Kazanzides, Peter, Chang, Jenghwa, Iordachita, Iulian, Li, Jack, Ling, C. Clifton, Fichtinger, Gabor, Hutchison, David, editor, Kanade, Takeo, editor, Kittler, Josef, editor, Kleinberg, Jon M., editor, Mattern, Friedemann, editor, Mitchell, John C., editor, Naor, Moni, editor, Nierstrasz, Oscar, editor, Pandu Rangan, C., editor, Steffen, Bernhard, editor, Sudan, Madhu, editor, Terzopoulos, Demetri, editor, Tygar, Dough, editor, Vardi, Moshe Y., editor, Weikum, Gerhard, editor, Larsen, Rasmus, editor, Nielsen, Mads, editor, and Sporring, Jon, editor

Published
2006
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89. Accelerating Surgical Robotics Research: A Review of 10 Years With the da Vinci Research Kit

Author

D'Ettorre, Claudia, primary, Mariani, Andrea, additional, Stilli, Agostino, additional, Rodriguez y Baena, Ferdinando, additional, Valdastri, Pietro, additional, Deguet, Anton, additional, Kazanzides, Peter, additional, Taylor, Russell H., additional, Fischer, Gregory S., additional, DiMaio, Simon P., additional, Menciassi, Arianna, additional, and Stoyanov, Danail, additional

Published
2021
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96. Modular interoperability in surgical robotics software

Author

Kazanzides, Peter, Deguet, Anton, Vagvolgyi, Balazs, Chen, Zihan, and Taylor, Russell H.

Subjects
Middleware, Robotics industry, Robotics, Robotics industry, Middleware, Database middleware, Business, Engineering and manufacturing industries
Abstract

Computers have been used to assist medical diagnosis and treatment for decades; early examples include computer-assisted tomography (CAT or CT) and stereotactic neurosurgery. While computers can only provide information to [...]

Published
2015

98. A phantom-based analysis for tracking intra-fraction pancreatic tumor motion by ultrasound imaging during radiation therapy.

Author

Tianlong Ji, Ziwei Feng, Sun, Edward, Ng, Sook Kien, Lin Su, Yin Zhang, Dong Han, Han-Oh, Sarah, Iordachita, Iulian, Lee, Junghoon, Kazanzides, Peter, Lediju Bell, Muyinatu A., Wong, John, and Kai Ding

Subjects
PANCREATIC tumors, ULTRASONIC imaging, STEREOTACTIC radiotherapy, RADIOTHERAPY, LINEAR acceleration, INFRARED cameras
Abstract

Purpose: In this study, we aim to further evaluate the accuracy of ultrasound tracking for intra-fraction pancreatic tumor motion during radiotherapy by a phantom-based study. Methods: Twelve patients with pancreatic cancer who were treated with stereotactic body radiation therapy were enrolled in this study. The displacement points of the respiratory cycle were acquired from 4DCT and transferred to a motion platform to mimic realistic breathing movements in our phantom study. An ultrasound abdominal phantom was placed and fixed in the motion platform. The ground truth of phantom movement was recorded by tracking an optical tracker attached to this phantom. One tumor inside the phantom was the tracking target. In the evaluation of the results, the monitoring results from the ultrasound system were compared with the phantom motion results from the infrared camera. Differences between infrared monitoring motion and ultrasound tracking motion were analyzed by calculating the root-mean-square error. Results: The 82.2% ultrasound tracking motion was within a 0.5 mm difference value between ultrasound tracking displacement and infrared monitoring motion. 0.7% ultrasound tracking failed to track accurately (a difference value > 2.5 mm). These differences between ultrasound tracking motion and infrared monitored motion do not correlate with respiratory displacements, respiratory velocity, or respiratory acceleration by linear regression analysis. Conclusions: The highly accurate monitoring results of this phantom study prove that the ultrasound tracking system may be a potential method for realtime monitoring targets, allowing more accurate delivery of radiation doses. [ABSTRACT FROM AUTHOR]

Published
2022
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