@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 {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 {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} }