@article {Connolly2022c, title = {Bridging 3D Slicer and ROS2 for Image-Guided Robotic Interventions}, journal = {Sensors}, volume = {22}, year = {2022}, month = {07/2022}, doi = {https://doi.org/10.3390/s22145336}, author = {Laura Connolly and Anton Degeut and Simon Leonard and Junichi Tokuda and Tamas Ungi and Axel Krieger and Peter Kazanzides and Parvin Mousavi and Gabor Fichtinger and Russell H. Taylor} } @article {Ungi2013c, title = {Prototyping image-guided therapy applications using the SlicerIGT platform}, volume = {6}, year = {2013}, month = {03/2013}, pages = {61}, address = {Crystal City, VA, USA}, url = {http://www.spl.harvard.edu/publications/item/view/2334}, author = {Tamas Ungi and Junichi Tokuda and Adam Rankin and Andras Lasso and Gabor Fichtinger} } @article {Siefabadi2012a, title = {Acuracy Study of a MRI-guided Robotic System for Prostate Needle Placement}, journal = {The International Journal of Medical Robotics and Computer Assisted Surgery (IJMRCAS)}, year = {2012}, abstract = {

Background: Accurate needle placement is the first concern in percutaneous MRI-guided prostate interventions. In this phantom study, different sources contributing to the overall needle placement error of a MRI-guided robot for prostate biopsy have been identified, quantified, and minimized to the possible extent. Methods and Materials: The overall needle placement error of the system was evaluated in a prostate phantom. This error was broken into two parts: the error associated with the robotic system (called before-insertion error) and the error associated with needle-tissue interaction (called due-to-insertion error). The before-insertion error was measured directly in a soft phantom and different sources contributing into this part were identified and quantified. A calibration methodology was developed to minimize the 4-DOF manipulator{\textquoteright}s error. The due-toinsertion error was indirectly approximated by comparing the overall error and the beforeinsertion error. The effect of sterilization on the manipulator{\textquoteright}s accuracy and repeatability was also studied. Results: The average overall system error in phantom study was 2.5 mm (STD=1.1mm). The average robotic system error in super soft phantom was 1.3 mm (STD=0.7 mm). Assuming orthogonal error components, the needle-tissue interaction error was approximated to be 2.13 mm thus having larger contribution to the overall error. The average susceptibility artifact shift was 0.2 mm. The manipulator{\textquoteright}s targeting accuracy was 0.71 mm (STD=0.21mm) after robot calibration. The robot{\textquoteright}s repeatability was 0.13 mm. Sterilization had no noticeable influence on the robot{\textquoteright}s accuracy and repeatability. Conclusions: The experimental methodology presented in this paper may help researchers to identify, quantify, and minimize different sources contributing into the overall needle placement error of an MRI-guided robotic system for prostate needle placement. In the robotic system analyzed here, the overall error of the studied system remained within the acceptable range.

}, doi = {10.1002/rcs.1440}, url = {http://onlinelibrary.wiley.com/doi/10.1002/rcs.1440/abstract}, author = {Reza Seifabadi and Nathan Bongjoon Cho and Sam Sang-Eun Song and Junichi Tokuda and Nobuhiko Hata and Clare M Tempany and Gabor Fichtinger and Iulian Iordachita} } @article {Tokuda2012, title = {In-bore Setup and Software for 3T MRI-guided Transperineal Prostate Biopsy}, journal = {Physics in Medicine and Biology}, year = {2012}, month = {09/2012}, author = {Junichi Tokuda and Kemal Tuncali and Iulian Iordachita and Sam Sang-Eun Song and Andriy Fedorov and Sota Oguro and Andras Lasso and Fiona M. Fennessy and Clare M Tempany and Nobuhiko Hata} } @article {Lasso2012e, title = {Multi-slice-to-volume registration for reducing targeting error during MRI-guided transrectal prostate biopsy}, year = {2012}, month = {09/2012}, address = {Boston, MA, USA}, author = {Andras Lasso and Andriy Fedorov and Janice Fairhurst and Junichi Tokuda and Kemal Tuncali and Robert Mulkern and Nobuhiko Hata and Clare M Tempany and Gabor Fichtinger} } @article {Lasso2012b, title = {Planning and Targeting System for MRI-guided Robotic Interventions}, year = {2012}, month = {02/2012}, address = {Toronto, ON, Canada}, author = {Andras Lasso and Junichi Tokuda and Andriy Fedorov and Siddharth Vikal and Hadi Tadayyon and Aradhana Kaushal and Peter Guion and Gabor Fichtinger} } @article {Tokuda2012, title = {Preclinical evaluation of an MRI-compatible pneumatic robot for angulated needle placement in transperineal prostate interventions}, journal = {International Journal of Computer Assisted Radiology and Surgery (IJCARS)}, year = {2012}, abstract = {

Purpose. To support transperineal prostate biopsies in a closed-bore magnetic resonance imaging (MRI) scanner, we developed a small profile MRI-compatible pneumatic needle placement robot that can angulate a needle insertion path into a large accessible target volume. We performed a preclinical evaluation of the robot{\textquoteright}s targeting accuracy with angulated needle insertion in a 3 Tesla clinical MRI. Methods. Angulation of the needle insertion path is achieved by a four degrees-of-freedom (4-DOF) mechanism with two parallel triangular structures. The robot is integrated with navigation software that allows an operator to plan angulated needle insertion by selecting a target and an entry point. The targeting error was evaluated while the angle between the needle insertion path and the static magnetic field was between -5.7{\textdegree} and 5.7{\textdegree} horizontally and between -5.7{\textdegree} and 4.3{\textdegree} vertically in the MRI scanner after sterilizing and draping the device. Results. The needle placement robot successfully positioned the needle with angulated insertion as specified on the navigation software. The overall targeting error was 0.8 {\textpm} 0.5 mm along the horizontal axis and 0.8 {\textpm} 0.8 mm along the vertical axis. The two-dimensional root-mean-square targeting error on the axial slices as containing the targets was 1.4 mm. Conclusions. Our preclinical evaluation demonstrated that the MRI-compatible pneumatic needle placement robot with the 4-DOF parallel kinematic structure with the capability to angulate the needle insertion path provides sufficient targeting accuracy for clinical MRI-guided prostate interventions.

}, keywords = {Biopsy, Brachytherapy, medical robotics, MRI-guided therapy, prostate cancer}, doi = {10.1007/s11548-012-0750-1}, url = {http://www.springerlink.com/content/tl77lrh211608j70/}, author = {Junichi Tokuda and Sam Sang-Eun Song and Gregory Fischer and Iulian Iordachita and Reza Seifabadi and Nathan Bongjoon Cho and Kemal Tuncali and Gabor Fichtinger and Clare M Tempany and Nobuhiko Hata} } @article {Tokuda2012a, title = {Preclinical evaluation of MRI-compatible pneumatic robot for angulated needle placement in prostate interventions}, year = {2012}, month = {2012}, address = {Pisa, Italy}, keywords = {angulation, MRI compatiber robot, transprineal}, author = {Junichi Tokuda and Sam Sang-Eun Song and Gregory Fischer and Iulian Iordachita and Reza Seifabadi and Nathan Bongjoon Cho and Gabor Fichtinger and Clare M Tempany and Nobuhiko Hata} } @article {Tuncali2011, title = {3T MRI-guided Transperineal Targeted Prostate Biopsy: Clinical Feasibility, Safety, and Early Results}, volume = {19}, year = {2011}, pages = {53}, author = {Kemal Tuncali and Junichi Tokuda and Iulian Iordachita and Sam Sang-Eun Song and Andriy Fedorov and Sota Oguro and Andras Lasso and Fiona M. Fennessy and Yi Tang and Clare M Tempany and Nobuhiko Hata} } @article {Tokuda2011, title = {Preliminary Accuracy Evaluation of 3T MRI-guided Transperineal Prostate Biopsy with Grid Template}, volume = {19}, year = {2011}, pages = {3761}, author = {Junichi Tokuda and Kemal Tuncali and Iulian Iordachita and Sam Sang-Eun Song and Andriy Fedorov and Sota Oguro and Andras Lasso and Fiona M. Fennessy and Yi Tang and Clare M Tempany and Nobuhiko Hata} } @article {Blevins2011, title = {RadVision: An Image-Guided Brachytherapy Planning/Implant Tool with Extensible Image Acquisition/Processing}, volume = {4}, year = {2011}, month = {10/2011}, address = {Arlington VA, October 12-13, 2011}, author = {Jack Blevins and Junichi Tokuda and Robert Cormack and Junghoon Lee and Nathanael Kuo and Jerry L. Prince and Gabor Fichtinger and Clare M Tempany and E. Clif Burdette} } @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 = {

"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.

}, 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} } @article {Song2010b, title = {Development of a Pneumatic Robot for MRI-Guided Transperineal Prostate Intervention}, year = {2010}, address = {Stockholm, Sweden, 1-7 May 2010}, author = {Sam Sang-Eun Song and Nathan Bongjoon Cho and Iulian Iordachita and Gregory Fischer and Junichi Tokuda and Nobuhiko Hata and Gabor Fichtinger and Clare M Tempany} } @article {Song2010c, title = {MRI compatibility study of a pneumatically actuated robotic system for transperineal prostate needle placement}, year = {2010}, address = {Arlington, VA, March 8-9, 2010}, author = {Sam Sang-Eun Song and Nathan Bongjoon Cho and Junichi Tokuda and Nobuhiko Hata and Clare M Tempany and Gabor Fichtinger and Iulian Iordachita} } @article {Song2010, title = {MRI compatibility study of a pneumatically actuated robotic system for transperineal prostate needle placement}, volume = {Int J CARS Vol 5 (Suppl 1)}, year = {2010}, pages = {26-27}, address = {Geneva. Switzerland, June 23-26, 2010}, author = {Sam Sang-Eun Song and Nathan Bongjoon Cho and Junichi Tokuda and Nobuhiko Hata and Clare M Tempany and Gabor Fichtinger and Iulian Iordachita} } @conference {Lasso2009, title = {A generic computer assisted intervention plug-in module for 3D Slicer with multiple device support}, booktitle = {Medical Image Computing and Computer-Assisted Intervention (MICCAI)}, year = {2009}, month = {2009}, address = {London, UK}, abstract = {

Various frameworks and toolkits have been proposed for rapid development of computer assisted intervention (CAI) software. In this paper, we investigate how the open-source 3D Slicer application framework can be used for this purpose. We defined general requirements for CAI software to be able to evaluate and enhance 3D Slicer for interventional applications in general, and not just for a specific system. 3D Slicer is found to be an appropriate basis for CAI software, as its built-in functions fulfill many requirements and missing functionalities can be conveniently added. We describe the implementation of a CAI software based on extending core 3D Slicer functions. Three enhancements are described in detail: the management of workflow, DICOM image transfer, and multiple views. The resulting software fulfills general CAI requirements and supports two different MRI-guided prostate biopsy systems (each with a different imaging mode, robotic manipulator and calibration method), thereby demonstrating the usability of our software for implementing CAI applications in general.

}, url = {http://www.insight-journal.org/browse/journal/47}, author = {Andras Lasso and Junichi Tokuda and Siddharth Vikal and Clare M Tempany and Nobuhiko Hata and Gabor Fichtinger} } @conference {Tokuda2009, title = {OpenIGTLink: An Open Network Protocol for Image Guided Therapy Environment}, booktitle = {International Journal of Medical Robotics and Computer Assisted Surgery}, volume = {na}, year = {2009}, pages = {na}, author = {Junichi Tokuda and Luis Ibanez and Gregory Fischer and Patrick Cheng and Haiying Liu and Jack Blevins and Jumpei Arata and Xenophon Papademetris and Ziv Yaniv and Tina Kapur and Steve Pieper and E. Clif Burdette and Gabor Fichtinger and Clare M Tempany and Nobuhiko Hata} } @conference {Mewes2008, title = {Integrated system for robot-assisted in prostate biopsy in closed MRI scanner}, booktitle = {Procedings IEEE International Conference on Robotics and Automation ICRA 2008}, year = {2008}, month = {19{\textendash}23 May}, pages = {2959{\textendash}2962}, doi = {10 1109/ROBOT 2008 4543659}, author = {Philip Mewes and Junichi Tokuda and Simon DiMaio and Gregory Fischer and Csaba Csoma and David Gobbi and Clare M Tempany and Gabor Fichtinger and Nobuhiko Hata} } @article {Fischer2008b, title = {MRI-Compatible Pneumatic Robot for Transperineal Prostate Needle Placement}, journal = {IEEE/ASME Transactions on Mechatronics}, volume = {13}, number = {3}, year = {2008}, month = {June}, pages = {295{\textendash}305}, doi = {10 1109/TMECH 2008 924044}, author = {Gregory Fischer and Iulian Iordachita and Csaba Csoma and Junichi Tokuda and Simon DiMaio and Clare M Tempany and Nobuhiko Hata and Gabor Fichtinger} } @conference {Fischer2008a, title = {Pneumatically operated MRI-compatible needle placement robot for prostate interventions}, booktitle = {Procedings IEEE International Conference on Robotics and Automation ICRA 2008}, year = {2008}, month = {19{\textendash}23 May}, pages = {2489{\textendash}2495}, doi = {10 1109/ROBOT 2008 4543587}, author = {Gregory Fischer and Iulian Iordachita and Csaba Csoma and Junichi Tokuda and Philip Mewes and Clare M Tempany and Nobuhiko Hata and Gabor Fichtinger} } @conference {Tokuda2008a, title = {Real-time MR Imaging Controlled by Transperineal Needle Placement Device for MRI-guided Prostate Biopsy}, booktitle = {16th Scientific Meeting and Exhibition of International Society of Magnetic Resonance in Medicine}, year = {2008}, author = {Junichi Tokuda and Simon DiMaio and Gregory Fischer and Csaba Csoma and David Gobbi and Gabor Fichtinger and Nobuhiko Hata and Clare M Tempany} } @article {Tokuda2008, title = {Software strategy for robotic transperineal prostate therapy in closed-bore MRI}, journal = {Medical image computing and computer-assisted intervention (MICCAI)}, volume = {11}, number = {Pt 2}, year = {2008}, pages = {701{\textendash}709}, publisher = {Department of Radiology, Brigham, Women{\textquoteright}s Hospital, Harvard Medical School, 75 Francis St , Boston, MA 02115, USA tokuda@bwh harvard edu}, abstract = {

A software strategy to provide intuitive navigation for MRI-guided robotic transperineal prostate therapy is presented In the system, the robot control unit, the MRI scanner, and open-source navigation software are connected to one another via Ethernet to exchange commands, coordinates, and images Six states of the system called "workphases" are defined based on the clinical scenario to synchronize behaviors of all components The wizard-style user interface allows easy following of the clinical workflow On top of this framework, the software provides features for intuitive needle guidance: interactive target planning; 3D image visualization with current needle position; treatment monitoring through real-time MRI These features are supported by calibration of robot, image coordinates by the fiducial-based registration The performance test shows that the registration error of the system was 2 6 mm in the prostate area, and it displayed real-time 2D image 1 7 s after the completion of image acquisition

}, keywords = {Brachytherapy, Computer-Assisted, Humans, Image Interpretation, Interventional, Magnetic Resonance Imaging, Male, methods, Needles, pathology/radiotherapy, Prostatic Neoplasms, Radiotherapy, Robotics, Software, Software Design}, author = {Junichi Tokuda and Gregory Fischer and Csaba Csoma and Simon DiMaio and David Gobbi and Gabor Fichtinger and Clare M Tempany and Nobuhiko Hata} }