• 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.

• Korean Journal of Remote Sensing
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• v.19 no.1
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• pp.61-70
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• 2003

This paper proposes an autonomous approach to localize the center of fiducial marks included in aerial photographs without precise geometric information and human interactions. For this localization, we present a conceptual model based on two assumptions representing symmetric characteristics of fiducial area and fiducial mark. The model makes it possible to locate exact center of a fiducial mark by checking the symmetric characteristics of pixel value distribution around the mark. The proposed approach is composed of three steps: (a) determining the symmetric center of fiducial area, (b) finding the center of a fiducial mark with unit pixel accuracy, and finally (c) localizing the exact center up to sub-pixel accuracy. The symmetric center of the mark is calculated tv successively applying three geometric filters: simplified ${\nabla}^2$G (Laplacian of Gaussian) filter, symmetry enhancement filter, and high pass filter. By introducing a self-diagnosis function based on the self-similarity measurement, a way of rejecting unreliable cases of center calculation is proposed, as well. The experiments were done with respect to 284 samples of fiducial marks composed of RMK- and RC-style ones extracted from 51 scanned aerial photographs. It was evaluated in the visual inspection that the proposed approach had resulted the erroneous identification with respect to only one mark. Although the proposed approach is based on weak constraints, being free from the exact geometric model of the fiducial marks, experimental results showed that the proposed approach is sufficiently robust and reliable.

• 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.

• Proceedings of the Korean Information Science Society Conference
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• 2001.04b
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• pp.568-570
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• 2001

fiducial mark는 PCB 정밀조립/검사 장비에서 위치보정을 위해 필수적으로 사용되는데, 실제 생산현장에서의 fiducial mark의 품질은 완전하지 않고, 손상된 상태인 경우가 많이 발생한다. 기존에 주로 사용되는 blob centroid 방법에 의한 mark의 위치추출은 mark의 상태가 손상되었을 경우, 큰 오차를 수반하게 된다. 본 논문에서는 Generalized Hough Transform을 이용한 fiducial mark의 중심위치 기법을 개발하여, 적용한 결과 손상된 mark에 대해서도 매우 강건한 결과를 보여주었다.

• Proceedings of the KSRS Conference
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• 2002.10a
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• pp.536-541
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• 2002

This paper proposes an approach of automatically calculating the center location of fiducial marks up to sub-pixel accuracy with model-free condition. The conceptual model, composed of two assumptions, about general geometric property of fiducial area and fiducial mark is established. The proposed approach is primarily based on the strategy of calculating the center of symmetry and is composed of three steps of processing: (a) determining horizontal center of fiducial area, (b) locating center of a fiducial mark, and, (c) finally calculating the exact center up to sub-pixel accuracy. Evaluation with respect to RMK style marks and RC style ones shows that the proposed approach can be evaluated as robust one. However there are several images which can't be analyzed by the proposed approach.

• 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.

• 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.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2003.06a
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• pp.434-437
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• 2003

Evaluation or the patterning accuracy of e-beam lithography machines requires a high precision inspection system that is capable of measuring the true xy-locations of fiducial marks generated by the e-beam machine under test. Fiducial marks are fabricated on a single photo mask over the entire working area in the form of equally spaced two-dimensional grids. In performing the evaluation, the principles of self-calibration enable to determine the deviations of fiducial marks from their nominal xy-locations precisely, not being affected by the motion errors of the inspection system itself. It is. however, the fact that only repeatable motion errors can be eliminated, while random motion errors encountered in probing the locations of fiducial marks are not removed. Even worse, a random error occurring from the measurement of a single mark propagates and affects in determining locations of other marks, which phenomenon in fact limits the ultimate calibration accuracy of e-beam machines. In this paper, we describe an uncertainty analysis that has been made to investigate how random errors affect the final result of self-calibration of e-beam machines when one uses an optical inspection system equipped with high-resolution microscope objectives and a precision xy-stages. The guide of uncertainty analysis recommended by the International Organization for Standardization is faithfully followed along with necessary sensitivity analysis. The uncertainty analysis reveals that among the dominant components of the patterning accuracy of e-beam lithography, the rotationally symmetrical component is most significantly affected by random errors, whose propagation becomes more severe in a cascading manner as the number of fiducial marks increases

• 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.