@article {Krieger2007a, title = {Design and preliminary accuracy studies of an MRI-guided transrectal prostate intervention system}, journal = {Medical image computing and computer-assisted intervention (MICCAI)}, volume = {10}, number = {Pt 2}, year = {2007}, pages = {59{\textendash}67}, publisher = {Department of Mechanical Engineering, Johns Hopkins University, Baltimore, USA}, abstract = {

This paper reports a novel system for magnetic resonance imaging (MRI) guided transrectal prostate interventions, such as needle biopsy, fiducial marker placement, and therapy delivery The system utilizes a hybrid tracking method, comprised of passive fiducial tracking for initial registration, subsequent incremental motion measurement along the degrees of freedom using fiber-optical encoders, mechanical scales Targeting accuracy of the system is evaluated in prostate phantom experiments Achieved targeting accuracy, procedure times were found to compare favorably with existing systems using passive, active tracking methods Moreover, the portable design of the system using only standard MRI image sequences, minimal custom scanner interfacing allows the system to be easily used on different MRI scanners

}, keywords = {Algorithms, Artificial Intelligence, Automated, Biopsy, Computer-Assisted, Equipment Design, Equipment Failure Analysis, Humans, Image Enhancement, Image Interpretation, Imaging, instrumentation/methods, Interventional, Magnetic Resonance Imaging, Male, methods, Needle, pathology/surgery, Pattern Recognition, Pilot Projects, Prostatectomy, Prostatic Neoplasms, Rectum, Reproducibility of Results, Robotics, Sensitivity, Specificity, Three-Dimensional, User-Computer Interface}, author = {Axel Krieger and Csaba Csoma and Iulian Iordachita and Peter Guion and Anurag K. Singh and Gabor Fichtinger and Whitcomb, Louis L.} } @article {Fischer2007b, title = {Robotic assistant for transperineal prostate interventions in 3T closed MRI}, journal = {Medical image computing and computer-assisted intervention (MICCAI)}, volume = {10}, number = {Pt 1}, year = {2007}, pages = {425{\textendash}433}, publisher = {Center for Computer Integrated Surgery, Johns Hopkins University, USA gfischer@jhu edu}, abstract = {

Numerous studies have demonstrated the efficacy of image-guided needle-based therapy, biopsy in the management of prostate cancer The accuracy of traditional prostate interventions performed using transrectal ultrasound (TRUS) is limited by image fidelity, needle template guides, needle deflection, tissue deformation Magnetic Resonance Imaging (MRI) is an ideal modality for guiding, monitoring such interventions due to its excellent visualization of the prostate, its sub-structure, surrounding tissues We have designed a comprehensive robotic assistant system that allows prostate biopsy, brachytherapy procedures to be performed entirely inside a 3T closed MRI scanner We present a detailed design of the robotic manipulator, an evaluation of its usability, MR compatibility

}, keywords = {anatomy /\&/ histology/surgery, Computer-Assisted, Equipment Design, Equipment Failure Analysis, Image Interpretation, instrumentation/methods, Interventional, Magnetic Resonance Imaging, Perineum, Prostatectomy, Robotics, Surgery}, author = {Gregory Fischer and Simon DiMaio and Iulian Iordachita and Gabor Fichtinger} } @article {Blumenfeld2007, title = {Transperineal prostate biopsy under magnetic resonance image guidance: a needle placement accuracy study}, journal = {Journal of magnetic resonance imaging}, volume = {26}, number = {3}, year = {2007}, month = {Sep}, pages = {688{\textendash}694}, publisher = {Department of Radiology, Brigham, Women{\textquoteright}s Hospital, Harvard Medical School, Boston, Massachusetts, USA}, abstract = {

PURPOSE: To quantify needle placement accuracy of magnetic resonance image (MRI)-guided core needle biopsy of the prostate MATERIALS AND METHODS: A total of 10 biopsies were performed with 18-gauge (G) core biopsy needle via a percutaneous transperineal approach Needle placement error was assessed by comparing the coordinates of preplanned targets with the needle tip measured from the intraprocedural coherent gradient echo images The source of these errors was subsequently investigated by measuring displacement caused by needle deflection, needle susceptibility artifact shift in controlled phantom studies Needle placement error due to misalignment of the needle template guide was also evaluated RESULTS: The mean, standard deviation (SD) of errors in targeted biopsies was 6 5 +/- 3 5 mm Phantom experiments showed significant placement error due to needle deflection with a needle with an asymmetrically beveled tip (3 2-8 7 mm depending on tissue type) but significantly smaller error with a symmetrical bevel (0 6-1 1 mm) Needle susceptibility artifacts observed a shift of 1 6 +/- 0 4 mm from the true needle axis Misalignment of the needle template guide contributed an error of 1 5 +/- 0 3 mm CONCLUSION: Needle placement error was clinically significant in MRI-guided biopsy for diagnosis of prostate cancer Needle placement error due to needle deflection was the most significant cause of error, especially for needles with an asymmetrical bevel

}, keywords = {Aged, Artifacts, Biopsy, Contrast Media, diagnosis/pathology, Humans, Imaging, Magnetic Resonance Imaging, Magnetic Resonance Spectroscopy, Male, methods, Middle Aged, Needle, Needles, Phantoms, pharmacology, Prostatectomy, Prostatic Neoplasms, Reproducibility of Results, Retrospective Studies}, doi = {10 1002/jmri 21067}, url = {http://dx doi org/10 1002/jmri 21067}, author = {Philip Blumenfeld and Nobuhiko Hata and Simon DiMaio and Kelly Zou and Steven Haker and Gabor Fichtinger and Clare M Tempany} }