@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}
}
@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}
}
