@article {Kazanzides2007,
	title = {Development of an image-guided robot for small animal research},
	journal = {Journal of Computer Aided Surgery},
	volume = {12},
	number = {6},
	year = {2007},
	month = {Nov},
	pages = {357{\textendash}365},
	publisher = {Department of Computer Science, The Johns Hopkins University, Baltimore, Maryland 21218, USA pkaz@jhu edu},
	abstract = {<p>We developed a robot system that can be used for image-guided experimental procedures on small animals, where the goal is to perform physical actions at specific positions identified on a preoperative image The animal is first placed in a fixture that is compatible with all imaging systems of interest, including PET, SPECT, CT, MRI After imaging, the fixture is attached, registered to the robot system, where the image-guided intervention is performed This system has been applied to perform pO(2) measurements with physical probes based on tumor hypoxia images obtained in an animal PET scanner This paper focuses on the design, validation of the robot system The validation is performed using a phantom, includes a new method for estimating the Fiducial Localization Error (FLE) that is based on the measured Fiducial Distance Error (FDE) The results indicate that the robot system can position the measurement probe at a defined target with a mean error that is less than 0 4 mm</p>
},
	keywords = {Algorithms, analysis, Animals, Imaging, Laboratory, methods, Oxygen, Partial Pressure, Phantoms, Positron-Emission Tomography, Robotics},
	doi = {10 1080/10929080701732538},
	url = {http://dx doi org/10 1080/10929080701732538},
	author = {Peter Kazanzides and Jenghwa Chang and Iulian Iordachita and Jack Li and Clifton Ling 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 = {<p>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)</p>
},
	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}
}
@conference {Li2005,
	title = {Image-Guided Robot System for Small Animal Research},
	booktitle = {Conference on Complex Medical Engineering (CME2005)},
	year = {2005},
	pages = {194-198},
	author = {Jack Li and Emese Balogh and Iulian Iordachita and Gabor Fichtinger and Peter Kazanzides}
}
@conference {Li2005a,
	title = {Validation of an image-guided robot system for measurement, biopsy and injection in rodents},
	booktitle = {Procedings IEEE 31st Annual Northeast Bioengineering Conference},
	year = {2005},
	month = {2{\textendash}3 April},
	pages = {131{\textendash}133},
	doi = {10 1109/NEBC 2005 1431959},
	author = {Jack Li and Iulian Iordachita and Emese Balogh and Gabor Fichtinger and Peter Kazanzides}
}
@conference {Li2004,
	title = {Design of an image-guided robot system for measurement, biopsy and injection in rodents},
	booktitle = {Procedings IEEE 30th Annual Northeast Bioengineering Conference},
	year = {2004},
	month = {17{\textendash}18 April},
	pages = {39{\textendash}40},
	doi = {10 1109/NEBC 2004 1299982},
	author = {Jack Li and Peter Kazanzides and Russell H. Taylor and Clifton Ling and Gabor Fichtinger}
}
