@conference {Siefabadi2012b,
	title = {Design of a Teleoperated Needle Steering System for MRI-guided Prostate Interventions},
	booktitle = {IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob 2012)},
	year = {2012},
	publisher = {IEEE},
	organization = {IEEE},
	address = {Rome, Italy},
	abstract = {<p>Accurate needle placement plays a key role in success of prostate biopsy and brachytherapy. During percutaneous interventions, the prostate gland rotates and deforms which may cause significant target displacement. In these cases straight needle trajectory is not sufficient for precise targeting. Although needle spinning and fast insertion may be helpful, they do not entirely resolve the issue. We propose robot-assisted bevel-tip needle steering under MRI guidance as a potential solution to compensate for the target displacement. MRI is chosen for its superior soft tissue contrast in prostate imaging. Due to the confined workspace of the MRI scanner and the requirement for the clinician to be present inside the MRI room during the procedure, we designed a MRI-compatible 2-DOF haptic device to command the needle steering slave robot which operates inside the scanner. The needle steering slave robot was designed to be integrated with a previously developed pneumatically actuated transperineal robot for MRI-guided prostate needle placement. We describe design challenges and present the conceptual design of the master and slave robots and the associated controller.</p>
},
	keywords = {MRI-compatible, Needle Steering, Real-time MRI, Teleoperation},
	author = {Reza Seifabadi and Iulian Iordachita and Gabor Fichtinger}
}
@article {Seifabadi2011,
	title = {Robotic System for MRI-guided Prostate Biopsy: Feasibility of Teleoperated Needle Insertion and ex vivo Phantom Study},
	journal = {International Journal of Computer Aided Radiology and Surgery (IJCARS)},
	year = {2011},
	abstract = {<p>"Purpose": Magnetic Resonance Imaging (MRI) combined with robotic assistance has the potential to improve on clinical outcomes of biopsy and local treatment of prostate cancer. "Methods": We report the workspace optimization and phantom evaluation of a five Degree of Freedom (DOF) parallel pneumatically actuated modular robot for MRI-guided prostate biopsy. To shorten procedure time and consequently increase patient comfort and system accuracy, a prototype of a MRI-compatible master-slave needle driver module using piezo motors was also added to the base robot. "Results": Variable size workspace was achieved using appropriate link length, compared to the previous design. The 5-DOF targeting accuracy demonstrated an average error of 2.5 mm (STD=1.37 mm) in a realistic phantom inside a 3T magnet with a bevel-tip 18G needle. The average position tracking error of the master-slave needle driver was always below 0.1 mm. "Conclusion": Phantom experiments showed sufficient accuracy for manual prostate biopsy. Also, the implementation of teleoperated needle insertion was feasible and accurate. These two together suggest feasibility of accurate fully actuated needle placement into prostate while keeping the clinician supervision over the task.</p>
},
	keywords = {accuracy evaluation, MRI -compatible, phantom study, Pneumatic Robot, Teleoperation, Transperineal prostate biopsy},
	doi = {10.1007/s11548-011-0598-9},
	url = {http://www.springerlink.com/content/h53329764x605415/fulltext.pdf},
	author = {Reza Seifabadi and Sam Sang-Eun Song and Axel Krieger and Nathan Bongjoon Cho and Junichi Tokuda and Gabor Fichtinger and Iulian Iordachita}
}
@article {Song2011c,
	title = {Robotic System for MRI-guided Prostate Intervention: Feasibility Study of Tele-operated Needle Insertion},
	year = {2011},
	publisher = {Springer},
	address = {Berlin, Germany},
	keywords = {MRI-compatible, Pneumatic Robot, Prostate Intervention, Teleoperation},
	url = {http://www.cars-int.org/},
	author = {Sam Sang-Eun Song and Reza Seifabadi and Axel Krieger and Junichi Tokuda and Gabor Fichtinger and Iulian Iordachita}
}
