@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 = {<p>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</p>
},
	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 {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 = {<p>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</p>
},
	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}
}
