@article {Tokuda2008,
	title = {Software strategy for robotic transperineal prostate therapy in closed-bore MRI},
	journal = {Medical image computing and computer-assisted intervention (MICCAI)},
	volume = {11},
	number = {Pt 2},
	year = {2008},
	pages = {701{\textendash}709},
	publisher = {Department of Radiology, Brigham, Women{\textquoteright}s Hospital, Harvard Medical School, 75 Francis St , Boston, MA 02115, USA tokuda@bwh harvard edu},
	abstract = {<p>A software strategy to provide intuitive navigation for MRI-guided robotic transperineal prostate therapy is presented In the system, the robot control unit, the MRI scanner, and open-source navigation software are connected to one another via Ethernet to exchange commands, coordinates, and images Six states of the system called "workphases" are defined based on the clinical scenario to synchronize behaviors of all components The wizard-style user interface allows easy following of the clinical workflow On top of this framework, the software provides features for intuitive needle guidance: interactive target planning; 3D image visualization with current needle position; treatment monitoring through real-time MRI These features are supported by calibration of robot, image coordinates by the fiducial-based registration The performance test shows that the registration error of the system was 2 6 mm in the prostate area, and it displayed real-time 2D image 1 7 s after the completion of image acquisition</p>
},
	keywords = {Brachytherapy, Computer-Assisted, Humans, Image Interpretation, Interventional, Magnetic Resonance Imaging, Male, methods, Needles, pathology/radiotherapy, Prostatic Neoplasms, Radiotherapy, Robotics, Software, Software Design},
	author = {Junichi Tokuda and Gregory Fischer and Csaba Csoma and Simon DiMaio and David Gobbi and Gabor Fichtinger and Clare M Tempany and Nobuhiko Hata}
}
