@article {DiMaio2007, title = {Dynamic MRI scan plane control for passive tracking of instruments and devices}, journal = {Medical image computing and computer-assisted intervention (MICCAI)}, volume = {10}, number = {Pt 2}, year = {2007}, pages = {50{\textendash}58}, publisher = {Brigham, Women{\textquoteright}s Hospital, Harvard Medical School, Boston, MA, USA}, abstract = {

This paper describes a novel image-based method for tracking robotic mechanisms, interventional devices during Magnetic Resonance Image (MRI)-guided procedures It takes advantage of the multi-planar imaging capabilities of MRI to optimally image a set of localizing fiducials for passive motion tracking in the image coordinate frame The imaging system is servoed to adaptively position the scan plane based on automatic detection, localization of fiducial artifacts directly from the acquired image stream This closed-loop control system has been implemented using an open-source software framework, currently operates with GE MRI scanners Accuracy, performance were evaluated in experiments, the results of which are presented here

}, keywords = {Algorithms, Anatomy, Artificial Intelligence, Automated, Computer-Assisted, Cross-Sectional, Humans, Image Enhancement, Image Interpretation, Imaging, instrumentation/methods, Magnetic Resonance Imaging, methods, Pattern Recognition, Phantoms, Reproducibility of Results, Robotics, Sensitivity, Specificity, Surgery, Three-Dimensional, User-Computer Interface}, author = {Simon DiMaio and Eigil Samset and Gregory Fischer and Iulian Iordachita and Gabor Fichtinger and Ferenc Jolesz and Clare M Tempany} } @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 {Kazanzides2006, title = {Design, validation of an image-guided robot for small animal research}, journal = {Medical image computing and computer-assisted intervention (MICCAI)}, volume = {9}, number = {Pt 1}, year = {2006}, pages = {50{\textendash}57}, publisher = {Department of Computer Science, Johns Hopkins University, USA pkaz@jhu edu}, abstract = {

We developed an image-guided robot system to achieve highly accurate placement of thin needles, probes into in-vivo rodent tumor tissue in a predefined pattern that is specified on a preoperative image This system can be used for many experimental procedures where the goal is to correlate a set of physical measurements with a corresponding set of image intensities or, more generally, to perform a physical action at a set of anatomic points identified on a preoperative image This paper focuses on the design, validation of the robot system, where the first application is to insert oxygen measurement probes in a three-dimensional (3D) grid pattern defined with respect to a PET scan of a tumor The design is compatible with CT, MRI, which we plan to use to identify targets for biopsy, for the injection of adenoviral sequences for gene therapy The validation is performed using a phantom, includes a new method for estimating the Fiducial Localization Error (FLE) based on the measured Fiducial Distance Error (FDE)

}, keywords = {Animals, Biopsy, Computer-Assisted, Equipment Design, Equipment Failure Analysis, Imaging, Injections, instrumentation/methods, instrumentation/methods/veterinary, Needle, Phantoms, Positron-Emission Tomography, Research, Robotics, Surgery}, author = {Peter Kazanzides and Jenghwa Chang and Iulian Iordachita and Jack Li and Clifton Ling and Gabor Fichtinger} } @article {Boctor2005, title = {Real-time quality control of tracked ultrasound}, journal = {Medical image computing and computer-assisted intervention (MICCAI)}, volume = {8}, number = {Pt 1}, year = {2005}, pages = {621{\textendash}630}, abstract = {

The overwhelming majority of intra-operative hazard situations in tracked ultrasound (US) systems are attributed to failure of registration between tracking, imaging coordinate frames We introduce a novel methodology for eal-time in-vivo quality control of tracked US systems, in order to capture registration failures during the clinical procedure In effect, we dynamically recalibrate the tracked US system for rotation, scale factor, and in-plane position offset up to a scale factor We detect any unexpected change in these parameters through capturing discrepancies in the resulting calibration matrix, thereby assuring quality (accuracy, consistency) of the tracked system No phantom is used for the recalibration We perform the task of quality control in the background, transparently to the clinical user while the subject is being scanned We present the concept, mathematical formulation, and experimental evaluation in-vitro This new method can play an important role in guaranteeing accurate, consistent, and reliable performance of tracked ultrasound

}, keywords = {Algorithms, Computer Systems, Computer-Assisted, Health Care, Humans, Image Enhancement, Image Interpretation, Interventional, methods, Quality Assurance, Quality Control, Reproducibility of Results, Sensitivity, Specificity, Surgery, Ultrasonography, User-Computer Interface}, author = {Emad Boctor and Iulian Iordachita and Gabor Fichtinger and Gregory D. Hager} }