Robotic system for magnetic resonance imaging-guided focused ultrasound treatment of thyroid nodules.
MRI
MRgFUS
nodules
robotic system
thyroid
Journal
The international journal of medical robotics + computer assisted surgery : MRCAS
ISSN: 1478-596X
Titre abrégé: Int J Med Robot
Pays: England
ID NLM: 101250764
Informations de publication
Date de publication:
Oct 2023
Oct 2023
Historique:
revised:
23
04
2023
received:
19
01
2023
accepted:
24
04
2023
medline:
5
9
2023
pubmed:
7
5
2023
entrez:
7
5
2023
Statut:
ppublish
Résumé
Herein, a robotic system offering Magnetic Resonance-guided Focused Ultrasound (MRgFUS) therapy of thyroid nodules was developed. The robotic system offers linear motion in 2 PC-controlled axes that navigate a 3 MHz single-element focused transducer. The system, through a C-arm structure attaches to the table of Magnetic Resonance Imaging (MRI) scanners and couples to the neck of patients lying in the supine position. The MRI compatibility of the developed system was assessed inside a 3 T scanner. Benchtop and MRI feasibility studies evaluating the heating performance of the system were executed on excised pork tissue and on homogeneous and thyroid model agar-based phantoms. The MRI compatibility of the system was successfully established. Grid sonications executed using robotic motion inflicted discrete and overlapping lesions on the excised tissue, while magnetic resonance (MR) thermometry successfully monitored thermal heating in agar-based phantoms. The developed system was found to be efficient with ex-vivo evaluation. The system can perform clinical MRgFUS therapy of thyroid nodules and other shallow targets after further in-vivo evaluation.
Sections du résumé
BACKGROUND
BACKGROUND
Herein, a robotic system offering Magnetic Resonance-guided Focused Ultrasound (MRgFUS) therapy of thyroid nodules was developed.
METHODS
METHODS
The robotic system offers linear motion in 2 PC-controlled axes that navigate a 3 MHz single-element focused transducer. The system, through a C-arm structure attaches to the table of Magnetic Resonance Imaging (MRI) scanners and couples to the neck of patients lying in the supine position. The MRI compatibility of the developed system was assessed inside a 3 T scanner. Benchtop and MRI feasibility studies evaluating the heating performance of the system were executed on excised pork tissue and on homogeneous and thyroid model agar-based phantoms.
RESULTS
RESULTS
The MRI compatibility of the system was successfully established. Grid sonications executed using robotic motion inflicted discrete and overlapping lesions on the excised tissue, while magnetic resonance (MR) thermometry successfully monitored thermal heating in agar-based phantoms.
CONCLUSIONS
CONCLUSIONS
The developed system was found to be efficient with ex-vivo evaluation. The system can perform clinical MRgFUS therapy of thyroid nodules and other shallow targets after further in-vivo evaluation.
Substances chimiques
Agar
9002-18-0
Types de publication
Journal Article
Langues
eng
Sous-ensembles de citation
IM
Pagination
e2525Subventions
Organisme : Research and Innovation Foundation
ID : FUSVET(SEED/1221/0080)
Organisme : Research and Innovation Foundation
ID : SOUNDPET (INTEGRATED/0918/0008)
Informations de copyright
© 2023 The Authors. The International Journal of Medical Robotics and Computer Assisted Surgery published by John Wiley & Sons Ltd.
Références
Russ G, Leboulleux S, Leenhardt L, Hegedüs L. Thyroid incidentalomas: epidemiology, risk stratification with ultrasound and workup. Eur Thyroid J. 2014;3(3):154-163. https://doi.org/10.1159/000365289
Gharib H, Garber JR, Duick DS, et al. AACE/ACE/AME guidelines for clinical practice for the diagnosis ang management of thyroid nodules -2016 update appendix. Endocr Pract. 2016;22(1):1-60. https://doi.org/10.4158/ep161208.gl
Vanderpump MPJ. Epidemiology of thyroid disorders. In: Luster M, Duntas L, Wartofksy L, eds. The Thyroid and Its Diseases. Springer International Publishing; 2019:75-85. https://doi.org/10.1007/978-3-319-72102-6_6
Parsa AA, Gharib H. Epidemiology of thyroid nodules. In: Contemporary Endocrinology; 2018. https://doi.org/10.1007/978-3-319-59474-3_1
Ha EJ, Baek JH. Advances in nonsurgical treatment of benign thyroid nodules. Future Oncol. 2014;10(8):1399-1405. https://doi.org/10.2217/fon.14.59
Globocan observatory 2020, international agency for research on cancer (IARC), world health organization (WHO). Thyroid cancer. Source: globocan 2020. World Heal Organ Int Agency Res Cancer. 2020;876:1-2. https://gco.iarc.fr/today
Haugen BR, Alexander EK, Bible KC, et al. 2015 American thyroid association management guidelines for adult patients with thyroid nodules and differentiated thyroid cancer: the American thyroid association guidelines task force on thyroid nodules and differentiated thyroid cancer. Thyroid. 2016;26(1):1-133. https://doi.org/10.1089/thy.2015.0020
Russ G, Bonnema SJ, Erdogan MF, Durante C, Ngu R, Leenhardt L. European thyroid association guidelines for ultrasound malignancy risk stratification of thyroid nodules in adults: the EU-TIRADS. Eur Thyroid J. 2017;6(5):225-237. https://doi.org/10.1159/000478927
Shin JH, Baek JH, Chung J, et al. Ultrasonography diagnosis and imaging-based management of thyroid nodules: revised Korean society of thyroid radiology consensus statement and recommendations. Korean J Radiol. 2016;17(3):370. https://doi.org/10.3348/kjr.2016.17.3.370
Durante C, Costante G, Lucisano G, et al. The natural history of benign thyroid nodules. JAMA, J Am Med Assoc. 2015;313(9):926. https://doi.org/10.1001/jama.2015.0956
Eng O, Potdevin L, Davidov T, Lu S.-E, Chen C, Trooskin S. Does nodule size predict compressive symptoms in patients with thyroid nodules? Gland Surg. 2014;3(4):232-236. https://doi.org/10.3978/j.issn.2227-684X.2014.08.03
Korkusuz Y, Gröner D, Raczynski N, et al. Thermal ablation of thyroid nodules: are radiofrequency ablation, microwave ablation and high intensity focused ultrasound equally safe and effective methods? Eur Radiol. 2018;28(3):929-935. https://doi.org/10.1007/s00330-017-5039-x
Lang BHH, Wong CKH, Ma EPM, Woo YC, Chiu KWH. A propensity-matched analysis of clinical outcomes between open thyroid lobectomy and high-intensity focused ultrasound (HIFU) ablation of benign thyroid nodules. Surg (United States). 2019;165(1):85-91. https://doi.org/10.1016/j.surg.2018.05.080
Papini E, Monpeyssen H, Frasoldati A, Hegedüs L. 2020 European thyroid association clinical practice guideline for the use of image-guided ablation in benign thyroid nodules. Eur Thyroid J. 2020;9(4):172-185. https://doi.org/10.1159/000508484
Cheng Z, Liang P. Advances in ultrasound-guided thermal ablation for symptomatic benign thyroid nodules. Adv Clin Exp Med. 2020;29(9):1123-1129. https://doi.org/10.17219/ACEM/125433
Christou N, Mathonnet M. Complications after total thyroidectomy. J Vis Surg. 2013;150(4):249-256. https://doi.org/10.1016/j.jviscsurg.2013.04.003
Bergenfelz A, Jansson S, Kristoffersson A, et al. Complications to thyroid surgery: results as reported in a database from a multicenter audit comprising 3,660 patients. Langenbeck’s Arch Surg. 2008;393(5):667-673. https://doi.org/10.1007/s00423-008-0366-7
Lang BHH, Wong CKH, Ma EPM. Single-session high intensity focussed ablation (HIFU) versus open cervical hemithyroidectomy for benign thyroid nodule: analysis on early efficacy, safety and voice quality. Int J Hyperther. 2017;33(8):868-874. https://doi.org/10.1080/02656736.2017.1305127
Zaborek NA, Cheng A, Imbus JR, et al. The optimal dosing scheme for levothyroxine after thyroidectomy: a comprehensive comparison and evaluation. Surg (United States). 2019;165(1):92-98. https://doi.org/10.1016/j.surg.2018.04.097
Mauri G, Hegedüs L, Bandula S, et al. European thyroid association and cardiovascular and interventional radiological society of Europe 2021 clinical practice guideline for the use of minimally invasive treatments in malignant thyroid lesions. Eur Thyroid J. 2021;10(3):185-197. https://doi.org/10.1159/000516469
Bonnema SJ, Hegedüs L. Radioiodine therapy in benign thyroid diseases: effects, side effects, and factors affecting therapeutic outcome. Endocr Rev. 2012;33(6):920-980. https://doi.org/10.1210/er.2012-1030
Fard-Esfahani A, Emami-Ardekani A, Fallahi B, et al. Adverse effects of radioactive iodine-131 treatment for differentiated thyroid carcinoma. Nucl Med Commun. 2014;35(8):808-817. https://doi.org/10.1097/MNM.0000000000000132
Ross DS, Burch HB, Cooper DS, et al. 2016 American thyroid association guidelines for diagnosis and management of hyperthyroidism and other causes of thyrotoxicosis. Thyroid. 2016;26(10):1343-1421. https://doi.org/10.1089/thy.2016.0229
Sheehan MT, Doi SAR. Transient hypothyroidism after radioiodine for graves’ disease: challenges in interpreting thyroid function tests. Clin Med Res. 2016;14(1):40-45. https://doi.org/10.3121/cmr.2015.1297
Von Müller F, Happel C, Reinhardt J, et al. Evaluation of fear of radiation and isolation before and after radioiodine therapy. Thyroid. 2014;24(7):1151-1155. https://doi.org/10.1089/thy.2013.0461
Jeong SY, Baek JH, Choi YJ, Lee JH. Ethanol and thermal ablation for malignant thyroid tumours. Int J Hyperther. 2017;33(8):1-8. https://doi.org/10.1080/02656736.2017.1361048
Baek JH, Ha EJ, Choi YJ, Sung JY, Kim JK, Shong YK. Radiofrequency versus ethanol ablation for treating predominantly cystic thyroid nodules: a randomized clinical trial. Korean J Radiol. 2015;16(6):1332. https://doi.org/10.3348/kjr.2015.16.6.1332
Guglielmi R, Pacella CM, Bianchini A, et al. Percutaneous ethanol injection treatment in benign thyroid lesions: role and efficacy. Thyroid. 2004;14(2):125-131. https://doi.org/10.1089/105072504322880364
Tarantino L, Francica G, Sordelli I, et al. Percutaneous ethanol injection of hyperfunctioning thyroid nodules: long-term follow-up in 125 patients. Am J Roentgenol. 2008;190(3):800-808. https://doi.org/10.2214/AJR.07.2668
Chi YL, Yun JS, Lee J, Nam KH, Woong YC, Cheong SP. Percutaneous ethanol injection therapy for locally recurrent papillary thyroid carcinoma. Thyroid. 2007;17(4):347-350. https://doi.org/10.1089/thy.2006.0251
Døssing H, Bennedbaek FN, Karstrup S, Hegedüs L. Benign solitary solid cold thyroid nodules: US-guided interstitial laser photocoagulation-initial experience. Radiology. 2002;225(1):53-57. https://doi.org/10.1148/radiol.2251011042
Valcavi R, Riganti F, Bertani A, Formisano D, Pacella CM. Percutaneous laser ablation of cold benign thyroid nodules: a 3-year follow-up study in 122 patients. Thyroid. 2010;20(11):1253-1261. https://doi.org/10.1089/thy.2010.0189
Døssing H, Bennedbaek FN, Hegedüs L. Long-term outcome following interstitial laser photocoagulation of benign cold thyroid nodules. Eur J Endocrinol. 2011;165(1):123-128. https://doi.org/10.1530/EJE-11-0220
Papini E, Rago T, Gambelunghe G, et al. Long-term efficacy of ultrasound-guided laser ablation for benign solid thyroid nodules. Results of a three-year multicenter prospective randomized trial. J Clin Endocrinol Metab. 2014;99(10):3653-3659. https://doi.org/10.1210/jc.2014-1826
Zhou W, Zhang L, Zhan W, Jiang S, Zhu Y, Xu S. Percutaneous laser ablation for treatment of locally recurrent papillary thyroid carcinoma <15 mm. Clin Radiol. 2016;71(12):1233-1239. https://doi.org/10.1016/j.crad.2016.07.010
Zhou W, Jiang S, Zhan W, Zhou J, Xu S, Zhang L. Ultrasound-guided percutaneous laser ablation of unifocal T1N0M0 papillary thyroid microcarcinoma: preliminary results. Eur Radiol. 2017;27(7):2934-2940. https://doi.org/10.1007/s00330-016-4610-1
Kim YS, Rhim H, Tae K, Park DW, Kim ST. Radiofrequency ablation of benign cold thyroid nodules: initial clinical experience. Thyroid. 2006;16(4):361-367. https://doi.org/10.1089/thy.2006.16.361
Jeong WK, Baek JH, Rhim H, et al. Radiofrequency ablation of benign thyroid nodules: safety and imaging follow-up in 236 patients. Eur Radiol. 2008;18(6):1244-1250. https://doi.org/10.1007/s00330-008-0880-6
Lim HK, Lee JH, Ha EJ, Sung JY, Kim JK, Baek JH. Radiofrequency ablation of benign non-functioning thyroid nodules: 4-year follow-up results for 111 patients. Eur Radiol. 2013;23(4):1044-1049. https://doi.org/10.1007/s00330-012-2671-3
Jeong SY, Baek JH, Choi YJ, et al. Radiofrequency ablation of primary thyroid carcinoma: efficacy according to the types of thyroid carcinoma. Int J Hyperther. 2018;34(5):611-616. https://doi.org/10.1080/02656736.2018.1427288
Lim HK, Cho SJ, Baek JH, et al. US-guided radiofrequency ablation for low-risk papillary thyroid microcarcinoma: efficacy and safety in a large population. Korean J Radiol. 2019;20(12):1653. https://doi.org/10.3348/kjr.2019.0192
Feng B, Liang P, Cheng Z, et al. Ultrasound-guided percutaneous microwave ablation of benign thyroid nodules: experimental and clinical studies. Eur J Endocrinol. 2012;166(6):1031-1037. https://doi.org/10.1530/EJE-11-0966
Liu YJ, Qian LX, Liu D, Zhao JF. Ultrasound-guided microwave ablation in the treatment of benign thyroid nodules in 435 patients. Exp Biol Med. 2017;242(15):1515-1523. https://doi.org/10.1177/1535370217727477
Yue W, Chen L, Wang S, Yu S. Locoregional control of recurrent papillary thyroid carcinoma by ultrasound-guided percutaneous microwave ablation: a prospective study. Int J Hyperther. 2015;31(4):403-408. https://doi.org/10.3109/02656736.2015.1014433
Yue W, Wang S, Yu S, Wang B. Ultrasound-guided percutaneous microwave ablation of solitary T1N0M0 papillary thyroid microcarcinoma: initial experience. Int J Hyperther. 2014;30(2):150-157. https://doi.org/10.3109/02656736.2014.885590
Zhengwen B, Wangfen J, Juxiu J, Wu T, Tong G, Ren J. Efficacy and safety of cooled and uncooled microwave ablation for the treatment of benign thyroid nodules: a systematic review and meta-analysis. Endocrine. 2018;62(2):307-317. https://doi.org/10.1007/s12020-018-1693-2
Gharib H, Hegedüs L, Pacella CM, Baek JH, Papini E. Nonsurgical, image-guided, minimally invasive therapy for thyroid nodules. J Clin Endocrinol Metab. 2013;98(10):3949-3957. https://doi.org/10.1210/jc.2013-1806
Mauri G, Sconfienza LM. Percutaneous ablation holds the potential to substitute for surgery as first choice treatment for symptomatic benign thyroid nodules. Int J Hyperther. 2017;33(3):301-302. https://doi.org/10.1080/02656736.2016.1257827
Izadifar Z, Izadifar Z, Chapman D, Babyn P. An introduction to high intensity focused ultrasound: systematic review on principles, devices, and clinical applications. J Clin Med. 2020;9(2):460. https://doi.org/10.3390/jcm9020460
Korkusuz H, Sennert M, Fehre N, Happel C, Grünwald F. Localized thyroid tissue ablation by high intensity focused ultrasound: volume reduction, effects on thyroid function and immune response. RoFo Fortschritte auf dem Gebiet der Rontgenstrahlen und der Bildgeb Verfahren. 2015;187(11):1011-1015. https://doi.org/10.1055/s-0035-1553348
Lang BH, Wu ALH. The efficacy and safety of high-intensity focused ultrasound ablation of benign thyroid nodules. Ultrasonography. 2018;37(2):89-97. https://doi.org/10.14366/usg.17057
Korkusuz H, Fehre N, Sennert M, Happel C, Grünwald F. Volume reduction of benign thyroid nodules 3 months after a single treatment with high-intensity focused ultrasound (HIFU). J Ther Ultrasound. 2015;3(1):1-10. https://doi.org/10.1186/s40349-015-0024-9
Kovatcheva RD, Vlahov JD, Stoinov JI, Zaletel K. Benign solid thyroid nodules: US-guided high-intensity focused ultrasound ablation - initial clinical outcomes. Radiology. 2015;276(2):597-605. https://doi.org/10.1148/radiol.15141492
Korkusuz H, Sennert M, Fehre N, Happel C, Grünwald F. Local thyroid tissue ablation by high-intensity focused ultrasound: effects on thyroid function and first human feasibility study with hot and cold thyroid nodules. Int J Hyperther. 2014;30(7):480-485. https://doi.org/10.3109/02656736.2014.962626
Prakash PS, Oh HB, Tan WB, Parameswaran R, Ngiam KY. The efficacy and safety of high-intensity focused ultrasound (HIFU) therapy for benign thyroid nodules-a single center experience from Singapore. World J Surg. 2019;43(8):1957-1963. https://doi.org/10.1007/s00268-019-04976-2
Korkusuz H, Fehre N, Sennert M, Happel C, Grünwald F. Early assessment of high-intensity focused ultrasound treatment of benign thyroid nodules by scintigraphic means. J Ther Ultrasound. 2014;2(1):1-10. https://doi.org/10.1186/2050-5736-2-18
Lang BH, Woo YC, Chiu KWH. High intensity focused ultrasound (HIFU) ablation of benign thyroid nodule is safe and efficacious in patients who continue taking an anti-coagulation or anti-platelet agent in the treatment period. Int J Hyperther. 2019;36(1):186-190. https://doi.org/10.1080/02656736.2018.1548034
Lang BHH, Woo YC, Chiu KWH. Vocal cord paresis following single-session high intensity focused ablation (HIFU) treatment of benign thyroid nodules: incidence and risk factors. Int J Hyperther. 2017;33(8):888-894. https://doi.org/10.1080/02656736.2017.1328130
Lang BHH, Woo YC, Chiu KWH. Two-year efficacy of single-session high-intensity focused ultrasound (HIFU) ablation of benign thyroid nodules. Eur Radiol. 2019;29(1):93-101. https://doi.org/10.1007/s00330-018-5579-8
Lang BHH, Woo YC, Chiu KWH. Significance of hyperechoic marks observed during high-intensity focused ultrasound (HIFU) ablation of benign thyroid nodules. Eur Radiol. 2018;28(6):2675-2681. https://doi.org/10.1007/s00330-017-5207-z
Trimboli P, Bini F, Marinozzi F, Baek JH, Giovanella L. High-intensity focused ultrasound (HIFU) therapy for benign thyroid nodules without anesthesia or sedation. Endocrine. 2018;61(2):210-215. https://doi.org/10.1007/s12020-018-1560-1
Vorländer C, Fischer A, Korkusuz H. Effects of regional and general anesthesia on the therapeutic outcome of benign thyroid nodules treated with high intensity focused ultrasound (HIFU). World J Surg. 2022;46(5):1076-1081. https://doi.org/10.1007/s00268-022-06447-7
Rieke V, PaulyThermometry KBMR. MR thermometry. J Magn Reson Imag. 2008;27(2):376-390. https://doi.org/10.1002/jmri.21265
Hernando CG, Esteban L, Cañas T, Van Den Brule E, Pastrana M. The role of magnetic resonance imaging in oncology. Clin Transl Oncol. 2010;12(9):606-613. https://doi.org/10.1007/s12094-010-0565-x
Wijlemans JW, Bartels LW, Deckers R, et al. Magnetic resonance-guided high-intensity focused ultrasound (MR-HIFU) ablation of liver tumours. In: Cancer Imaging. Vol 12; 2012. https://doi.org/10.1102/1470-7330.2012.9038
Elhelf IAS, Albahar H, Shah U, Oto A, Cressman E, Almekkawy M. High intensity focused ultrasound: the fundamentals, clinical applications and research trends. Diagn Interv Imaging. 2018;99(6):349-359. https://doi.org/10.1016/j.diii.2018.03.001
Shou W, Huang X, Duan S, et al. Acoustic power measurement of high intensity focused ultrasound in medicine based on radiation force. Ultrasonics. 2006;44(Suppl L):e17-e20. https://doi.org/10.1016/j.ultras.2006.06.034
Drakos T, Antoniou A, Evripidou N, et al. Ultrasonic attenuation of an agar, silicon dioxide, and evaporated milk gel phantom. J Med Ultrasound. 2021;29(4):239-249.
Antoniou A, Georgiou L, Christodoulou T, et al. MR relaxation times of agar-based tissue-mimicking phantoms. J Appl Clin Med Phys. 2022;23(5). https://doi.org/10.1002/acm2.13533
Epaminonda E, Drakos T, Kalogirou C, Theodoulou M, Yiallouras C, Damianou C. MRI guided focused ultrasound robotic system for the treatment of gynaecological tumors. Int J Med Robot Comput Assist Surg. 2016;12(1):46-52. https://doi.org/10.1002/rcs.1653
Menikou G, Yiallouras C, Yiannakou M, Damianou C. MRI-guided focused ultrasound robotic system for the treatment of bone cancer. Int J Med Robot Comput Assist Surg. 2017;13(1):e1753. https://doi.org/10.1002/rcs.1753
Yiannakou M, Menikou G, Yiallouras C, Ioannides C, Damianou C. MRI guided focused ultrasound robotic system for animal experiments. Int J Med Robot Comput Assist Surg. 2017;13(4):e1804. https://doi.org/10.1002/rcs.1804
Damianou C, Giannakou M, Evripidou N, Kegel S, Huber P, Jenne J. Focused ultrasound robotic system for very small bore magnetic resonance imaging. Int J Med Robot Comput Assist Surg. 2020;16(6):1-9. https://doi.org/10.1002/rcs.2165
Giannakou M, Drakos T, Menikou G, et al. Magnetic resonance image-guided focused ultrasound robotic system for transrectal prostate cancer therapy. Int J Med Robot Comput Assist Surg. 2021;17(3). https://doi.org/10.1002/rcs.2237
Antoniou A, Giannakou M, Evripidou N, et al. Robotic system for magnetic resonance guided focused ultrasound ablation of abdominal cancer. Int J Med Robot Comput Assist Surg. 2021;17(5):e2299. https://doi.org/10.1002/rcs.2299
Antoniou A, Giannakou M, Evripidou N, Stratis S, Pichardo S, Damianou C. Robotic system for top to bottom MRgFUS therapy of multiple cancer types. Int J Med Robot Comput Assist Surg. 2022;18(2):e2364. https://doi.org/10.1002/rcs.2364
Giannakou M, Antoniou A, Damianou C. Preclinical robotic device for magnetic resonance imaging guided focussed ultrasound. Int J Med Robot Comput Assist Surg. 2022;19(1). https://doi.org/10.1002/rcs.2466
Drakos T, Giannakou M, Menikou G, et al. MRI-guided focused ultrasound robotic system for preclinical use. J Vet Med Anim Sci. 2020;4(1).
Schaefers G. Testing MR safety and compatibility. In: IEEE Engineering in Medicine and Biology Magazine. Vol 27; 2008. https://doi.org/10.1109/EMB.2007.910267
Yiallouras C, Yiannakou M, Menikou G, Damianou C. A multipurpose positioning device for magnetic resonance imaging-guided focused ultrasound surgery. Digit Med. 2017;3(3):138. https://doi.org/10.4103/digm.digm_33_17
Menikou G, Yiannakou M, Yiallouras C, Ioannides C, Damianou C. MRI-compatible breast/rib phantom for evaluating ultrasonic thermal exposures. Int J Med Robot Comput Assist Surg. 2018;14(1):1-12. https://doi.org/10.1002/rcs.1849
Menikou G, Damianou C. Acoustic and thermal characterization of agar based phantoms used for evaluating focused ultrasound exposures. J Ther Ultrasound. 2017;5(1):1-14. https://doi.org/10.1186/s40349-017-0093-z
Kang T, Kim DW, Lee YJ, et al. Magnetic resonance imaging features of normal thyroid parenchyma and incidental diffuse thyroid disease: a single-center study. Front Endocrinol. 2018;9. https://doi.org/10.3389/fendo.2018.00746
Mobashsher AT, Abbosh AM. Artificial human phantoms: human proxy in testing microwave apparatuses that have electromagnetic interaction with the human body. IEEE Microw Mag. 2015;16(6):42-62. https://doi.org/10.1109/MMM.2015.2419772
Baba M, Matsumoto K, Yamasaki N, et al. Development of a tailored thyroid gland phantom for fine-needle aspiration cytology by three-dimensional printing. J Surg Educ. 2017;74(6):1039-1046. https://doi.org/10.1016/j.jsurg.2017.05.012
Hong D, Lee S, Kim T, et al. Development of a personalized and realistic educational thyroid cancer phantom based on CT images: an evaluation of accuracy between three different 3D printers. Comput Biol Med. 2019;113:103393. https://doi.org/10.1016/j.compbiomed.2019.103393
Ha J, Mondal A, Zhao Z, Kaza AK, Dupont PE. Pediatric airway stent designed to facilitate mucus transport and atraumatic removal. IEEE Trans Biomed Eng. 2020;67(1):177-184. https://doi.org/10.1109/TBME.2019.2910551
Alssabbagh M, Tajuddin AA, Abdulmanap M, Zainon R. Evaluation of 3D printing materials for fabrication of a novel multi-functional 3D thyroid phantom for medical dosimetry and image quality. Radiat Phys Chem. 2017;135:106-112. https://doi.org/10.1016/j.radphyschem.2017.02.009
Black DG, Yazdi YO, Wong J, et al. Design of an anthropomorphic PET phantom with elastic lungs and respiration modeling. Med Phys. 2021;48(8):4205-4217. https://doi.org/10.1002/mp.14998
Ock J, Gwon E, Kim Dhwan, Kim Shoon, Kim N. Patient-specific and hyper-realistic phantom for an intubation simulator with a replaceable difficult airway of a toddler using 3D printing. Sci Rep. 2020;10(1):10631. https://doi.org/10.1038/s41598-020-67575-5
Breatnach E, Abbott GC, Fraser RG. Dimensions of the normal human trachea. Am J Roentgenol. 1984;142(5):903-906. https://doi.org/10.2214/ajr.142.5.903
Siedek F, Yeo SY, Heijman E, et al. Magnetic resonance-guided high-intensity focused ultrasound (MR-HIFU): technical background and overview of current clinical applications (Part 1). RoFo Fortschritte auf dem Gebiet der Rontgenstrahlen und der Bildgeb Verfahren. 2019;191(6):522-530. https://doi.org/10.1055/a-0817-5645
Payne A, Chopra R, Ellens N, et al. AAPM Task Group 241: a medical physicist’s guide to MRI-guided focused ultrasound body systems. Med Phys. 2021;48(9):e772-e806. https://doi.org/10.1002/mp.15076