@article {Tokuda2012,
	title = {Preclinical evaluation of an MRI-compatible pneumatic robot for angulated needle placement in transperineal prostate interventions},
	journal = {International Journal of Computer Assisted Radiology and Surgery (IJCARS)},
	year = {2012},
	abstract = {<p>Purpose. To support transperineal prostate biopsies in a closed-bore magnetic resonance imaging (MRI) scanner, we developed a small profile MRI-compatible pneumatic needle placement robot that can angulate a needle insertion path into a large accessible target volume. We performed a preclinical evaluation of the robot{\textquoteright}s targeting accuracy with angulated needle insertion in a 3 Tesla clinical MRI. Methods. Angulation of the needle insertion path is achieved by a four degrees-of-freedom (4-DOF) mechanism with two parallel triangular structures. The robot is integrated with navigation software that allows an operator to plan angulated needle insertion by selecting a target and an entry point. The targeting error was evaluated while the angle between the needle insertion path and the static magnetic field was between -5.7{\textdegree} and 5.7{\textdegree} horizontally and between -5.7{\textdegree} and 4.3{\textdegree} vertically in the MRI scanner after sterilizing and draping the device. Results. The needle placement robot successfully positioned the needle with angulated insertion as specified on the navigation software. The overall targeting error was 0.8 {\textpm} 0.5 mm along the horizontal axis and 0.8 {\textpm} 0.8 mm along the vertical axis. The two-dimensional root-mean-square targeting error on the axial slices as containing the targets was 1.4 mm. Conclusions. Our preclinical evaluation demonstrated that the MRI-compatible pneumatic needle placement robot with the 4-DOF parallel kinematic structure with the capability to angulate the needle insertion path provides sufficient targeting accuracy for clinical MRI-guided prostate interventions.</p>
},
	keywords = {Biopsy, Brachytherapy, medical robotics, MRI-guided therapy, prostate cancer},
	doi = {10.1007/s11548-012-0750-1},
	url = {http://www.springerlink.com/content/tl77lrh211608j70/},
	author = {Junichi Tokuda and Sam Sang-Eun Song and Gregory Fischer and Iulian Iordachita and Reza Seifabadi and Nathan Bongjoon Cho and Kemal Tuncali and Gabor Fichtinger and Clare M Tempany and Nobuhiko Hata}
}
@article {Chang2009,
	title = {A robotic system for [sup 18]F-FMISO PET-guided intratumoral pO[sub 2] measurements},
	journal = {Medical Physics},
	volume = {36},
	number = {11},
	year = {2009},
	pages = {5301-5309},
	publisher = {AAPM},
	keywords = {biomedical measurement, medical robotics, organic compounds, Oxygen, position control, positron emission tomography, pressure measurement, tumours},
	doi = {10.1118/1.3239491},
	url = {http://link.aip.org/link/?MPH/36/5301/1},
	author = {Jenghwa Chang and Bixiu Wen and Peter Kazanzides and Pat Zanzonico and Ronald D. Finn and Gabor Fichtinger and Clifton Ling}
}
