@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 {Fritz2012a, title = {Augmented Reality Visualization Using Image-Overlay for MR-Guided Interventions: Accuracy for Lumbar Spinal Procedures with a 1.5-Tesla MRI scanner.}, journal = {American Journal of Roentgenology}, volume = {198}, year = {2012}, month = {03/2012}, pages = {W266-73}, author = {Jan Fritz and Paweena U-Thainual and Tamas Ungi and Aaron J Flammang and Nathan Bongjoon Cho and Gabor Fichtinger and Iulian Iordachita and John A Carrino} } @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 {Fritz2011, title = {Augmented reality visualization using image-overlay for MR-guided interventions: assessment of accuracy for lumbar spinal procedures with a 1.5-Tesla MRI scanner}, year = {2011}, month = {09/2011}, address = {Munich, Germany}, author = {Jan Fritz and Paweena U-Thainual and Tamas Ungi and Aaron J Flammang and Nathan Bongjoon Cho and Gabor Fichtinger and Iulian Iordachita and John A Carrino} } @conference {Fritz2011a, title = {Augmented Reality Visualization Using Image-overlay for MR-guided Interventions: Assessment of Performance in Cadaveric Shoulder and Hip Arthrography}, booktitle = {RSNA 97th Scientific Assembly and Annual Meeting}, year = {2011}, month = {07/2012}, address = {Chicago, IL}, doi = {10.1148/radiol.12112640}, url = {http://radiology.rsna.org/content/early/2012/07/24/radiol.12112640.abstract}, author = {Jan Fritz and Paweena U-Thainual and Tamas Ungi and Aaron J Flammang and Nathan Bongjoon Cho and Gabor Fichtinger and Iulian Iordachita and John A Carrino} } @article {Krieger2011b, title = {Development and Evaluation of an Actuated MRI-Compatible Robotic System for MRI-Guided Prostate Intervention}, journal = {IEEE/ASME Transactions on Mechatronics}, year = {2011}, month = {2011}, pages = {PP}, issn = {1941-014X}, doi = {10.1109/TMECH.2011.2163523}, author = {Axel Krieger and Sam Sang-Eun Song and Nathan Bongjoon Cho and Iulian Iordachita and Peter Guion and Gabor Fichtinger and Whitcomb, Louis L.} } @article {Song2011b, title = {Needle Artifact Localization for Intraprocedural Biopsy Position Confirmation in 3T MRI-guided Robotic Transrectal Prostate Intervention}, volume = {4}, year = {2011}, month = {10/2011}, address = {Arlington VA, October 12-13, 2011}, author = {Sam Sang-Eun Song and Nathan Bongjoon Cho and Iulian Iordachita and Peter Guion and Gabor Fichtinger and Whitcomb, Louis L.} } @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 {Song2011d, title = {A study of needle image artifact localization in confirmation imaging of MRI-guided robotic prostate biopsy}, year = {2011}, pages = {4834 - 4839}, publisher = {IEEE}, address = {Shanghai, China}, isbn = {978-1-61284-386-5}, doi = {10.1109/ICRA.2011.5980309}, author = {Sam Sang-Eun Song and Nathan Bongjoon Cho and Iulian Iordachita and Peter Guion and Gabor Fichtinger and Whitcomb, Louis L.} } @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 {U-Thainual2010, title = {Evaluation of accuracy and clinical feasibility of the MR-compatible image overlay}, year = {2010}, address = {Leipzig, Germany, September 24-25, 2010}, keywords = {augmented reality, Image overlay system, MRI-guided}, author = {Paweena U-Thainual and Jan Fritz and Nathan Bongjoon Cho and Tamas Ungi and Segundo, AJM and John A Carrino and Gabor Fichtinger and Lewin, JS and Iulian Iordachita} } @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} }