{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,30]],"date-time":"2026-05-30T03:05:40Z","timestamp":1780110340613,"version":"3.54.0"},"reference-count":19,"publisher":"Wiley","issue":"7","license":[{"start":{"date-parts":[[2025,5,31]],"date-time":"2025-05-31T00:00:00Z","timestamp":1748649600000},"content-version":"vor","delay-in-days":0,"URL":"http:\/\/creativecommons.org\/licenses\/by\/4.0\/"},{"start":{"date-parts":[[2025,5,31]],"date-time":"2025-05-31T00:00:00Z","timestamp":1748649600000},"content-version":"tdm","delay-in-days":0,"URL":"http:\/\/doi.wiley.com\/10.1002\/tdm_license_1.1"}],"funder":[{"DOI":"10.13039\/100000070","name":"National Institute of Biomedical Imaging and Bioengineering","doi-asserted-by":"publisher","award":["R01EB031007"],"award-info":[{"award-number":["R01EB031007"]}],"id":[{"id":"10.13039\/100000070","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/100000057","name":"National Institute of General Medical Sciences","doi-asserted-by":"publisher","award":["T32GM140935"],"award-info":[{"award-number":["T32GM140935"]}],"id":[{"id":"10.13039\/100000057","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/100000054","name":"National Cancer Institute","doi-asserted-by":"publisher","award":["F30CA284541"],"award-info":[{"award-number":["F30CA284541"]}],"id":[{"id":"10.13039\/100000054","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["aapm.onlinelibrary.wiley.com"],"crossmark-restriction":true},"short-container-title":["J Applied Clin Med Phys"],"published-print":{"date-parts":[[2025,7]]},"abstract":"<jats:title>Abstract<\/jats:title>\n                  <jats:sec>\n                    <jats:title>Purpose<\/jats:title>\n                    <jats:p>Histotripsy is a focal tumor therapy that utilizes focused ultrasound (US) to mechanically destroy tissue. To overcome visualization limitations of diagnostic US\u2010guidance, C\u2010arm cone beam CT (CBCT)\u2010guided histotripsy is being developed, for which a mobile C\u2010arm could increase accessibility. CBCT\u2010guided histotripsy uses a phantom with a helical fiducial pattern to determine the CBCT\u2010to\u2010histotripsy robot coordinate transformation. This study presents an image\u2010to\u2010robot registration method requiring only one phantom CBCT, evaluated for accuracy and reproducibility using a mobile C\u2010arm.<\/jats:p>\n                  <\/jats:sec>\n                  <jats:sec>\n                    <jats:title>Methods<\/jats:title>\n                    <jats:p>\n                      The phantom is attached to a robotic arm (replacing the histotripsy transducer) and positioned at isocenter. A CBCT is acquired and image\u2010to\u2010robot registration performed by registering a digital model of the phantom to observed fiducials in CBCT coordinates. Registration was performed by one user (\n                      <jats:italic>n<\/jats:italic>\n                      \u00a0=\u00a08\/day, 2 days) and by 12 different users (\n                      <jats:italic>n<\/jats:italic>\n                      \u00a0=\u00a04\/day, 3 days) with fiducial registration errors (FREs) calculated. After each registration, the transducer was reattached to the robot and a treatment delivered in a multi\u2010layered, agar\u2010based phantom. Directional and target registration errors (TREs) were calculated as directional and Euclidean distances between planned and observed treatments. Directional error inter\u2010day differences for the single\u2010user experiment were evaluated for significance using 2\u2010tailed unpaired Student\n                      <jats:italic>t<\/jats:italic>\n                      \u2010tests. The effect of user variability on variability of FRE and directional error was evaluated for significance using 2\u2010tailed F\u2010tests.\n                    <\/jats:p>\n                  <\/jats:sec>\n                  <jats:sec>\n                    <jats:title>Results<\/jats:title>\n                    <jats:p>\n                      Registrations yielded FRE of 0.12\u00a0\u00b1\u00a00.03\u00a0mm and TRE of 1.51\u00a0\u00b1\u00a00.83\u00a0mm. Targeting error significantly increased along the transducer's short axis between days (0.88\u00a0\u00b1\u00a00.60\u00a0vs 1.43\u00a0\u00b1\u00a00.18\u00a0mm,\n                      <jats:italic>p<\/jats:italic>\n                      \u00a0=\u00a00.025) for the single user, with a similar trend for the multi\u2010user experiment (1.45\u00a0\u00b1\u00a00.79, 2.70\u00a0\u00b1\u00a00.19, and 2.83\u00a0\u00b1\u00a00.40\u00a0mm). User variability, and thus robot pose variability, did not significantly affect variability of FRE or directional error.\n                    <\/jats:p>\n                  <\/jats:sec>\n                  <jats:sec>\n                    <jats:title>Conclusions<\/jats:title>\n                    <jats:p>Mobile C\u2010arm CBCT\u2010guided histotripsy showed high accuracy with minimal yet nonnegligible TREs, consistent within but not between days, demonstrating that errors can be measured and accounted for, ideally near treatment day to maximize accuracy.<\/jats:p>\n                  <\/jats:sec>","DOI":"10.1002\/acm2.70132","type":"journal-article","created":{"date-parts":[[2025,5,31]],"date-time":"2025-05-31T23:53:18Z","timestamp":1748735598000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":2,"title":["Accuracy and reproducibility of a single\u2010pose image\u2010to\u2010robot registration method for mobile C\u2010arm cone beam CT guided histotripsy"],"prefix":"10.1002","volume":"26","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-5150-0094","authenticated-orcid":false,"given":"Grace M.","family":"Minesinger","sequence":"first","affiliation":[{"name":"Department of Radiology University of Wisconsin\u2010Madison Madison Wisconsin USA"},{"name":"Department of Medical Physics University of Wisconsin\u2010Madison Madison Wisconsin USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Paul F.","family":"Laeseke","sequence":"additional","affiliation":[{"name":"Department of Radiology University of Wisconsin\u2010Madison Madison Wisconsin USA"},{"name":"Department of Biomedical Engineering University of Wisconsin\u2010Madison Madison Wisconsin USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Katrina L.","family":"Falk","sequence":"additional","affiliation":[{"name":"Department of Radiology University of Wisconsin\u2010Madison Madison Wisconsin USA"},{"name":"Department of Biomedical Engineering University of Wisconsin\u2010Madison Madison Wisconsin USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Claire E.","family":"Hennen","sequence":"additional","affiliation":[{"name":"Department of Radiology University of Wisconsin\u2010Madison Madison Wisconsin USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Michael A.","family":"Speidel","sequence":"additional","affiliation":[{"name":"Department of Medical Physics University of Wisconsin\u2010Madison Madison Wisconsin USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-7595-797X","authenticated-orcid":false,"given":"Martin G.","family":"Wagner","sequence":"additional","affiliation":[{"name":"Department of Radiology University of Wisconsin\u2010Madison Madison Wisconsin USA"},{"name":"Department of Medical Physics University of Wisconsin\u2010Madison Madison Wisconsin 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