@article {raey, title = {Open-source image registration for MRI-TRUS fusion-guided prostate interventions}, journal = {International Journal of Computer Assisted Radiology and Surgery}, volume = {10}, number = {6}, year = {2015}, pages = {925-934}, keywords = {Image registration, Image-guided interventions, Magnetic Resonance Imaging, prostate cancer, Targeted biopsy, Ultrasound}, issn = {1861-6410}, doi = {10.1007/s11548-015-1180-7}, url = {http://dx.doi.org/10.1007/s11548-015-1180-7}, author = {Andriy Fedorov and Siavash Khallaghi and Sanchez, C. Antonio and Andras Lasso and Fels, Sidney and Kemal Tuncali and Sugar, Emily Neubauer and Tina Kapur and Zhang, Chenxi and William Wells and Paul Nguyen and Purang Abolmaesumi and Clare M Tempany} } @article {Xu2014c, title = {Multi-slice-to-volume registration for MRI-guided transperineal prostate biopsy}, journal = {International Journal of Computer Assisted Radiology and Surgery}, volume = {10}, number = {5}, year = {2014}, month = {09/2014}, pages = {563-572}, issn = {1861-6410}, doi = {10.1007/s11548-014-1108-7}, author = {Xu, Helen and Andras Lasso and Andriy Fedorov and Kemal Tuncali and Clare M Tempany and Gabor Fichtinger} } @article {Xu2014b, title = {Target Localization in MRI-guided Transperineal Prostate Biopsy using Multi-Slice-to-Volume Registration}, year = {2014}, month = {03/2014}, pages = {44}, url = {http://www.imno.ca/sites/default/files/2014Proceedings.pdf}, author = {Xu, Helen and Andras Lasso and Andriy Fedorov and Clare M Tempany and Gabor Fichtinger} } @article {Fedorov2013, title = {Towards Open Source Infrastructure for Joint MRI/TRUS Guided Prostate Interventions}, volume = {6}, year = {2013}, month = {03/2013}, pages = {67}, address = {Crystal City, VA, USA}, url = {http://www.spl.harvard.edu/publications/item/view/2334}, author = {Andriy Fedorov and Andras Lasso and Mehdi Moradi and Sang-Eun Song and Emily Neubauer and Robert Owen and Tina Kapur and William Wells and Paul Nguyen and Gabor Fichtinger and Clare M Tempany} } @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 {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} } @conference {Song2010, title = {Development of a Pneumatic Robot for MRI-guided Transperineal Prostate Biopsy and Brachytherapy: New Approaches}, booktitle = {IEEE International Conference on Robotics and Automation, ICRA 2010}, year = {2010}, pages = {2580-2585}, address = {Anchorage, Alaska, USA, 3-7 May 2010}, doi = {http://dx.doi.org/10.1109/ROBOT.2010.5509710}, author = {Sam Sang-Eun Song and Nathan Bongjoon Cho and Gregory Fischer and Nobuhiko Hata and Clare M Tempany 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 {Vikal2009b, title = {Prostate contouring in MRI guided biopsy}, booktitle = {SPIE Medical Imaging}, volume = {7259}, year = {2009}, author = {Siddharth Vikal and Steven Haker and Clare M Tempany and Gabor Fichtinger} } @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 {Vikal2008, title = {Prostate contouring in MRI guided biopsy}, booktitle = {Workshop on Prostate image analysis and computer-assisted intervention, International Conference on Medical Image Computing and Computer Assisted Intervention}, year = {2008}, author = {Siddharth Vikal and Steven Haker and Clare M Tempany 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} } @article {DiMaio2007b, title = {Challenges in image-guided therapy system design}, journal = {Neuroimage}, volume = {37 Suppl 1}, year = {2007}, pages = {S144{\textendash}S151}, publisher = {Brigham, Women{\textquoteright}s Hospital, 75 Francis St , Boston, MA 02115, USA simond@bwh harvard edu}, abstract = {

System development for image-guided therapy (IGT), or image-guided interventions (IGI), continues to be an area of active interest across academic, industry groups This is an emerging field that is growing rapidly: major academic institutions, medical device manufacturers have produced IGT technologies that are in routine clinical use, dozens of high-impact publications are published in well regarded journals each year, and several small companies have successfully commercialized sophisticated IGT systems In meetings between IGT investigators over the last two years, a consensus has emerged that several key areas must be addressed collaboratively by the community to reach the next level of impact, efficiency in IGT research, development to improve patient care These meetings culminated in a two-day workshop that brought together several academic, industrial leaders in the field today The goals of the workshop were to identify gaps in the engineering infrastructure available to IGT researchers, develop the role of research funding agencies, the recently established US-based National Center for Image Guided Therapy (NCIGT), and ultimately to facilitate the transfer of technology among research centers that are sponsored by the National Institutes of Health (NIH) Workshop discussions spanned many of the current challenges in the development, deployment of new IGT systems Key challenges were identified in a number of areas, including: validation standards; workflows, use-cases, and application requirements; component reusability;, device interface standards This report elaborates on these key points, proposes research challenges that are to be addressed by a joint effort between academic, industry, and NIH participants

}, keywords = {adverse effects/instrumentation/trends, Algorithms, Computational Biology, Computer Systems, Computer-Assisted, Humans, instrumentation/trends, Knowledge Bases, Models, National Institutes of Health (U S ), Neurosurgical Procedures, Organizational, Outcome Assessment (Health Care), Reproducibility of Results, Robotics, Software, Surgery, Treatment Outcome, United States}, doi = {10 1016/j neuroimage 2007 04 026}, url = {http://dx doi org/10 1016/j neuroimage 2007 04 026}, author = {Simon DiMaio and Tina Kapur and Kevin Cleary and Stephen Aylward and Peter Kazanzides and Kirby Vosburgh and Randy Ellis and James Duncan and Keyvan Farahani and Heinz Lemke and T. M. Peters and William Bill Lorensen and David Gobbi and John Haller and Laurence Larry Clarke and Stephen Pizer and Russell H. Taylor and Robert L. Galloway, Jr. and Gabor Fichtinger and Nobuhiko Hata and Kimberly Lawson and Clare M Tempany and Ron Kikinis and Ferenc Jolesz} } @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 {DiMaio2007a, title = {Robot-assisted needle placement in open MRI: system architecture, integration and validation}, journal = {Journal of Computer Aided Surgery}, volume = {12}, number = {1}, year = {2007}, month = {Jan}, pages = {15{\textendash}24}, publisher = {Brigham, Women{\textquoteright}s Hospital, Harvard Medical School, Boston, Massachusetts 02115, USA simond@bwh harvard edu}, abstract = {

In prostate cancer treatment, there is a move toward targeted interventions for biopsy, therapy, which has precipitated the need for precise image-guided methods for needle placement This paper describes an integrated system for planning, performing percutaneous procedures with robotic assistance under MRI guidance A graphical planning interface allows the physician to specify the set of desired needle trajectories, based on anatomical structures, lesions observed in the patient{\textquoteright}s registered pre-operative, pre-procedural MR images, immediately prior to the intervention in an open-bore MRI scanner All image-space coordinates are automatically computed, and are used to position a needle guide by means of an MRI-compatible robotic manipulator, thus avoiding the limitations of the traditional fixed needle template Automatic alignment of real-time intra-operative images aids visualization of the needle as it is manually inserted through the guide Results from in-scanner phantom experiments are provided

}, keywords = {Biopsy, diagnosis, Humans, instrumentation/methods, Magnetic Resonance Imaging, Male, Needle, Neuronavigation, Prostatic Neoplasms, Robotics}, doi = {10 1080/10929080601168254}, url = {http://dx doi org/10 1080/10929080601168254}, author = {Simon DiMaio and Steve Pieper and Kiyoyuki Chinzei and Nobuhiko Hata and Steven Haker and Daniel Kacher and Gabor Fichtinger and Clare M Tempany and Ron Kikinis} } @article {Blumenfeld2007, title = {Transperineal prostate biopsy under magnetic resonance image guidance: a needle placement accuracy study}, journal = {Journal of magnetic resonance imaging}, volume = {26}, number = {3}, year = {2007}, month = {Sep}, pages = {688{\textendash}694}, publisher = {Department of Radiology, Brigham, Women{\textquoteright}s Hospital, Harvard Medical School, Boston, Massachusetts, USA}, abstract = {

PURPOSE: To quantify needle placement accuracy of magnetic resonance image (MRI)-guided core needle biopsy of the prostate MATERIALS AND METHODS: A total of 10 biopsies were performed with 18-gauge (G) core biopsy needle via a percutaneous transperineal approach Needle placement error was assessed by comparing the coordinates of preplanned targets with the needle tip measured from the intraprocedural coherent gradient echo images The source of these errors was subsequently investigated by measuring displacement caused by needle deflection, needle susceptibility artifact shift in controlled phantom studies Needle placement error due to misalignment of the needle template guide was also evaluated RESULTS: The mean, standard deviation (SD) of errors in targeted biopsies was 6 5 +/- 3 5 mm Phantom experiments showed significant placement error due to needle deflection with a needle with an asymmetrically beveled tip (3 2-8 7 mm depending on tissue type) but significantly smaller error with a symmetrical bevel (0 6-1 1 mm) Needle susceptibility artifacts observed a shift of 1 6 +/- 0 4 mm from the true needle axis Misalignment of the needle template guide contributed an error of 1 5 +/- 0 3 mm CONCLUSION: Needle placement error was clinically significant in MRI-guided biopsy for diagnosis of prostate cancer Needle placement error due to needle deflection was the most significant cause of error, especially for needles with an asymmetrical bevel

}, keywords = {Aged, Artifacts, Biopsy, Contrast Media, diagnosis/pathology, Humans, Imaging, Magnetic Resonance Imaging, Magnetic Resonance Spectroscopy, Male, methods, Middle Aged, Needle, Needles, Phantoms, pharmacology, Prostatectomy, Prostatic Neoplasms, Reproducibility of Results, Retrospective Studies}, doi = {10 1002/jmri 21067}, url = {http://dx doi org/10 1002/jmri 21067}, author = {Philip Blumenfeld and Nobuhiko Hata and Simon DiMaio and Kelly Zou and Steven Haker and Gabor Fichtinger and Clare M Tempany} } @conference {DiMaio2006c, title = {Design of a Prostate Needle Placement Robot in MRI Scanner}, booktitle = {IEEE International Conference on Biomedical Robotics}, year = {2006}, author = {Simon DiMaio and Gregory Fischer and Steven Haker and Nobuhiko Hata and Iulian Iordachita and Clare M Tempany and Gabor Fichtinger} } @article {DiMaio2006b, title = {Robot-assisted needle placement in open-MRI: system architecture, integration and validation}, journal = {Studies in health technology and informatics}, volume = {119}, year = {2006}, pages = {126{\textendash}131}, publisher = {Brigham, Women{\textquoteright}s Hospital, Harvard Medical School, USA simond@bwh harvard edu}, abstract = {

This work describes an integrated system for planning, performing percutaneous procedures-such as prostate biopsy-with robotic assistance under MRI-guidance The physician interacts with a planning interface in order to specify the set of desired needle trajectories, based on anatomical structures, lesions observed in the patient{\textquoteright}s MR images All image-space coordinates are automatically computed, and used to position a needle guide by means of an MRI-compatible robotic manipulator, thus avoiding the limitations of the traditional fixed needle template Direct control of real-time imaging aids visualization of the needle as it is manually inserted through the guide Results from in-scanner phantom experiments are provided

}, keywords = {Biopsy, Computer Systems, diagnosis, Humans, instrumentation, Magnetic Resonance Imaging, Male, Needle, Prostatic Neoplasms, Robotics}, author = {Simon DiMaio and Steve Pieper and Kiyoyuki Chinzei and Nobuhiko Hata and Emese Balogh and Gabor Fichtinger and Clare M Tempany and Ron Kikinis} } @conference {DiMaio2006a, title = {A System for MRI-guided Prostate Interventions}, booktitle = {Procedings First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics BioRob 2006}, year = {2006}, month = {20{\textendash}22 Feb}, pages = {68{\textendash}73}, doi = {10 1109/BIOROB 2006 1639062}, author = {Simon DiMaio and Gregory Fischer and Maker, S. J. and Nobuhiko Hata and Iulian Iordachita and Clare M Tempany and Ron Kikinis and Gabor Fichtinger} }