• The Journal of Korean Society for Radiation Therapy
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• v.29 no.1
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• pp.19-26
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• 2017

Purpose: The application of density override is very important to minimize dose calculation errors by fiducial markers of metal material in proton treatment plan. However, density override with actual material of the fiducial marker could make problem such as inaccurate target contouring and compensator fabrication. Therefore, we perform density override with surrounding material instead of actual material and we intend to evaluate the usefulness of density override with surrounding material of the fiducial marker by analyzing the dose distribution according to the position, material of the fiducial marker and number of beams. Materials and Method: We supposed that the fiducial marker of gold, steel, titanium is located in 1.5, 2.5, 4.0, 6.0 cm from the proton beam's end of range using water phantom. Treatment plans were created by applying density override with the surrounding material and actual material of the fiducial marker. Also, a liver cancer patient who received proton therapy was selected. We located the fiducial marker of gold, steel, titanium in 0, 1.5, 3.5 cm from the proton beam's end of range and the treatment plans were created by same method with water phantom. Homogeneity Index(HI), Conformity Index(CI) and maximum dose of Organ At Risk(OAR) in Planning Target Volume(PTV) as the evaluation index were compared according to the material, position of the fiducial marker and number of beam. Results: The HI value was more decreased when density override with surrounding material of the fiducial marker was performed comparing with density override with actual material. Especially the HI value was increased when the fiducial marker was located farther from the proton beam's end of the range for a single beam and the fiducial marker's position was closer to isocenter for two or more beams. The CI value was close to 1 and OAR maximum dose was greatly reduced when density override with surrounding material of the fiducial marker was performed comparing with density override with actual material. Conclusion: Density override with surrounding material can be expected to achieve more precise proton therapy than density override with actual material of the fiducial marker and could increase the dose uniformity and target coverage and reduce the dose to surrounding normal tissues for the small fiducial markers used in clinical practice. Most of all, it is desirable to plan the treatment by avoiding the fiducial marker of metal material as much as possible. However, if the fiducial marker have on the beam path, density override of the surrounding material can be expected to achieve more precise proton therapy.

• The Journal of Korean Society for Radiation Therapy
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• v.22 no.1
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• pp.1-10
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• 2010

Purpose: The effect of artifact was analyzed, which occurs from fiducial marker during the liver Image Guided Radiation Therapy (IGRT) using the fiducial marker. Materials and Methods: The size of artifact of fixed fiducial marker and length of mobile fiducial marker locus were measured using the On-Board Imager system (OBI) and CT simulator, and 2D-2D matching and 3D-3D matching were carried out, respectively, and at this time, the coordinates transition value of couch was analyzed. Results: The measurement of fixed fiducial marker artifact size indicated CT 4.90, 8.10, 12.90, 19.70 mm and OBI 5.60, 10.60, 14.70, 29.40 mm based on the reference CT slice thickness of 1.25, 2.50, 5.00, and 10.00 mm. Meanwhile, the measurement of mobile fiducial marker locus length indicated CT 42.00, 43.10, 46.50 mm, and OBI 43.40, 46.00, 49.30 mm. The coordinates transition of 1.00, 2.00, and 8.00 mm occurred between 2D-2D matching and 3D-3D matching. Conclusion: It was confirmed that the therapy error increased during IGRT due to the influence of artifact when CT slice thickness increased. Thus, it may be desirable to acquire the image less than 2.50 mm in slice thickness when IGRT is implemented using the fiducial marker.

• The Journal of Korean Society for Radiation Therapy
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• v.22 no.1
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• pp.19-24
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• 2010

Purpose: To study the efficacy of marker match with using kilovoltage (KV) X-ray among multiple image guidance that referring tree fiducial marker in radiation therapy for prostate cancer patients. Materials and Methods: KV two-dimantional images (anterior-posterior, right-left) and cone-beam CT volumetric images were acquired after setup for patients with three fiducial markers. Compare the position of the fiducial marker of reference plan computed tomography (CT) and of KV, CBCT images; then decide the shift score of X, Y, and Z. This study executed 5 times on 10 patients and analyzed the shift value. Results: In the radiation therapy using fiducial marker, The function of marker match showed the same direction tendency as the CBCT, and showed X, Y, Z difference of about 0.6, 0.7, and 0.8 (unit: mm). Conclusion: Comparing to this, the result of shift value using 2D marker match showed less than 1.0 mm difference. The function of marker match is considered more useful in time-wise and effective dose rather than CBCT. Therefore, Both methods are used to treat patients for prostate cancer.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.4
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• pp.353-364
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• 2009

In this paper, a SLAM (Simultaneous Localization and Mapping) method using a single camera and planar fiducial markers is proposed. Fiducial markers are planar patterns that are mounted on the ceiling or wall. Each fiducial marker has a unique hi-tonal identification pattern with square outlines. It can be printed on paper to reduce cost or it can be painted using retro-reflective paint in order to make invisible and prevent undesirable visual effects. Existing localization methods using artificial landmarks have the disadvantage that landmark locations must be known a priori. In contrast, the proposed method can build a map and estimate robot location even if landmark locations are not known a priori. Hence, it reduces installation time and setup cost. The proposed method works good even when only one fiducial marker is seen at a scene. We perform computer simulation to evaluate proposed method.

• The Journal of Korea Robotics Society
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• v.18 no.2
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• pp.197-202
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• 2023

This paper studies the method to extend the sensing range of a fiducial maker using a tilt camera. In the system that uses a fiducial marker to estimate their position on a map, the sensing range of the marker is an important issue. Although there are markers around, a robot with a fixed camera often misses nearby markers in the case that the viewing angle of the camera does not cover the sensing range of the marker. If the robot adjusts the viewing angle of a camera by adjusting the position information of the markers, this problem will be solved. The contribution of this paper is as follows. 1) Structural considerations for the tilting module of cameras attached to robots. 2) Tilting module control method considering the position of a marker and a robot. 3) Finally, verification of the differences in the sensing range of markers between the proposed system and the previous system.

• The Journal of Korean Society for Radiation Therapy
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• v.25 no.2
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• pp.123-129
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• 2013

Purpose: The way check the movement of the fiducial marker insertion in the treatment of patients with prostate cancer. However the existing methods of fiducial marker verification process difficult to identify the specific location of the marker behind the femur and pelvic bone. So to study the evaluation of maker match with using kilo voltage (KV) X-ray by On-board imager to both oblique verification method. Materials and Methods: Five patients were selected for rectal ballooning and inserted fiducial marker. Compare the position of the fiducial marker of reference plan 2D/2D Anterior/Posterior verification method and 2D/2D both oblique verification method. So to measurement the shift score of X, Y, Z (axis) and measure exposure dose given to patients and compare matching time. Results: 2 dimensional OBI KV X-ray imaging using two-dimensional matching image are orthogonal, so locating fiducial marker matching clear and useful DRR (digital reconstruction radiography) OBI souce angle ($45^{\circ}/315^{\circ}$) matching most useful. 2D/2D both oblique verification method was able to see clearly marker behind the pelvic bone. Also matching time can be reduced accordingly. According to the method of each matching results for each patient in each treatment fraction, X, Y, and Z axis the Mean $value{\pm}SD$ (standard deviation) is X axis (AP/LAT: $0.4{\pm}1.67$, OBLIQUE: $0.4{\pm}1.82$) mm, Y axis (AP/LAT: $0.7{\pm}1.73$, OBLIQUE: $0.2{\pm}1.77$) mm, Z axis (AP/LAT: $0.8{\pm}1.94$, OBLIQUE:$1.5{\pm}2.8$) mm. In addition, the KV X-ray source dose radiation exposure given to the patient taking average when AP/LAT matching is (0.1/2.1) cGY, when $315^{\circ}/45^{\circ}$ matching is (0.27/0.26) cGY. Conclusion: In conclusion for inserted fiducial marker of prostate cancer patients 2D/2D both oblique matching method is more accurate verification than 2D/2D AP/LAT matching method. Also the matching time less than the 2D/2D AP/LAT matching method. Taken as the amount of radiation exposure to patients less than was possible. Suggest would improve the treatment quality of care patients more useful to establish a protocol such as case.

• The Journal of Korean Society for Radiation Therapy
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• v.20 no.1
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• pp.25-29
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• 2008

Purpose: To monitor the changes of location of prostate gland using DIPS and to examine the adjustment and proton beam therapy depending on the movement of prostate gland in proton beam therapy for prostate gland in which a fiducial gold marker was inserted. Materials and Methods: This study was conducted in ten patients with prostate cancer who received proton beam therapy since April of 2008. To monitor the change of prostate location, three fiducial gold markers were inserted prior to the treatment. To minimize the movement of prostate gland, patients were recommended to urinate prior to the treatment, to intake a certain amount of water and to concomitantly undergo rectal balloon. In these patients, the set-up position was identical to that for a CT-simulation. The PA (posterior-anterior) and lateral images were obtained using both DIPS (digital image positioning system) and a plain radiography, and they were compared between the two imaging modalities. Thus, the changes of the location of fiducial gold marker were assessed based on three coordinates (x, y, z) and then adjusted. This was followed by proton beam therapy. Results: Images which were taken using a plain radiography were compared with those which were taken using DIPS. In ten patients, according to a reference bony marker, the mean changes of the location of fiducial gold marker based on an iso-center were X-axis: $\pm$0.116 cm, Y-axis: $\pm$0.19 cm and Z-axis: $\pm$0.176 cm. These ten patients showed a difference in the changes of location of prostate gland and it ranged between RT: 0.04 cm and RT: 0.24 cm on the X-axis; between Inf: 0.03 cm and Sup: 0.42 cm on the Y-axis; and Post: 0.05 cm and Ant: 0.35 cm on the Z-axis. Conclusion: To minimize the movement of prostate gland, as the pre-treatment prior to the treatment. In all the patients, however, three fiducial gold markers showed a daily variation which were inserted in the prostate gland. Based on the above data, Thus, the requirement of gold marker matching system depending on the daily variation in the proton beam therapy for which more accurate establishment of target was confirmed. It is assumed that an accurate effect of proton beam therapy would be enhanced by adjusting the target-center depending on the location change of prostate gland using DIPS which was used in the current study.

• The Journal of Korean Society for Radiation Therapy
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• v.24 no.1
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• pp.15-21
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• 2012

Purpose: Image Guided Radiation Therapy (IGRT) has been carried out using On-Board Imager system (OBI) in Asan Medical Center. For this reason, This study was to analyze and evaluate the impact on Cone-Beam CT according to variation of material and respiration. Materials and Methods: This study was to acquire and analyze Cone-Beam CT three times for two material: Cylider acryl (lung equvalent material, diameter 3 cm), Fiducial Marker (using clinic) under Motion Phantom able to adjust respiration pattern randomly was varying period, amplitude and baseline vis-a-vis reference respiration pattern. Results: First, According to a kind of material, when being showed 100% in the acryl and 120% in the Fiducial Marker under the condition of same movement of the motion phantom. Second, According to the respiratory alteration, when being showed 1.13 in the baseline shift 1.8 mm and 1.27 in the baseline shift 3.3 mm for acryl. when being showed 1.01 in 1 sec of period and 1.045 in 2.5 sec of period for acryl. When being showed 0.86 in 0.7 times the standard of amplitude and 1.43 in 1.7 times the standard of amplitude for acryl. when being showed 1.18 in the baseline shift 1.8 mm and 1.34 in the baseline shift 3.3 mm for Fiducial Marker. when being showed 1.0 in 1 sec of period and 1.0 in 2.5 sec of period for Fiducial Marker. When being showed 0.99 in 0.7 times the standard of amplitude and 1.66 in 1.7 times the standard of amplitude for Fiducial Marker. Conclusion: The effect of image size of CBCT was 20% in the case of Fiducial marker. The impact of changes in breathing pattern was minimum 13% - maximum 43% for Arcyl, min. 18% - max. 66% for Fiducial marker. This difference makes serious uncertainty. So, Must be stabilized breathing of patient before acquiring CBCT. also must be monitored breathing of patient in the middle of acquire. If you observe considerable change of breathing when acquiring CBCT. After Image Guided, must be need to check treatment site using fluoroscopy. If a change is too big, re-acquiring CBCT.

• Radiation Oncology Journal
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• v.29 no.2
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• pp.91-98
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• 2011

Purpose: To assess the usefulness of implanted fiducial markers in the setup of hypofractionated radiotherapy for prostate cancer patients by comparing a fiducial marker matched setup with a pelvic bone match. Materials and Methods: Four prostate cancer patients treated with definitive hypofractionated radiotherapy between September 2009 and August 2010 were enrolled in this study. Three gold fiducial markers were implanted into the prostate and through the rectum under ultrasound guidance around a week before radiotherapy. Glycerin enemas were given prior to each radiotherapy planning CT and every radiotherapy session. Hypofractionated radiotherapy was planned for a total dose of 59.5 Gy in daily 3.5 Gy with using the Novalis system. Orthogonal kV X-rays were taken before radiotherapy. Treatment positions were adjusted according to the results from the fusion of the fiducial markers on digitally reconstructed radiographs of a radiotherapy plan with those on orthogonal kV X-rays. When the difference in the coordinates from the fiducial marker fusion was less than 1 mm, the patient position was approved for radiotherapy. A virtual bone matching was carried out at the fiducial marker matched position, and then a setup difference between the fiducial marker matching and bone matching was evaluated. Results: Three patients received a planned 17-fractionated radiotherapy and the rest underwent 16 fractionations. The setup error of the fiducial marker matching was $0.94{\pm}0.62$ mm (range, 0.09 to 3.01 mm; median, 0.81 mm), and the means of the lateral, craniocaudal, and anteroposterior errors were $0.39{\pm}0.34$ mm, $0.46{\pm}0.34$ mm, and $0.57{\pm}0.59$ mm, respectively. The setup error of the pelvic bony matching was $3.15{\pm}2.03$ mm (range, 0.25 to 8.23 mm; median, 2.95 mm), and the error of craniocaudal direction ($2.29{\pm}1.95$ mm) was significantly larger than those of anteroposterior ($1.73{\pm}1.31$ mm) and lateral directions ($0.45{\pm}0.37$ mm), respectively (p<0.05). Incidences of over 3 mm and 5 mm in setup difference among the fractionations were 1.5% and 0% in the fiducial marker matching, respectively, and 49.3% and 17.9% in the pelvic bone matching, respectively. Conclusion: The more precise setup of hypofractionated radiotherapy for prostate cancer patients is feasible with the implanted fiducial marker matching compared with the pelvic bony matching. Therefore, a less marginal expansion of planning target volume produces less radiation exposure to adjacent normal tissues, which could ultimately make hypofractionated radiotherapy safer.

• 한국HCI학회:학술대회논문집
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• 2009.02a
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• pp.74-79
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• 2009

Fiducial markers have been used frequently in augmented reality applications. However, they represent only ID information to identify a marker, and thus they have limitations when we have multiple types of markers. In this paper, we propose a new marker design for augmented reality applications. We embed a marker’s context, such as type, size, orientation, and ID, in the barcode that has been used just for storing an ID. BY embedding the context information, it is possible to recognize multiple types of markers at once and to render corresponding contents with proper scale. Our marker design can be used in a mobile augmented reality environment where many unknown types of markers may exist.