@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} } @conference {Xu2010, title = {Accuracy validation for MRI-guided robotic prostate biopsy}, booktitle = {Medical Imaging 2010: Visualization, Image-Guided Procedures, and Modeling}, year = {2010}, pages = {762517 - 762517-8}, publisher = {SPIE}, organization = {SPIE}, address = {San Diego, California, USA}, doi = {10.1117/12.844251}, author = {Xu, Helen and Andras Lasso and Siddharth Vikal and Peter Guion and Axel Krieger and Aradhana Kaushal and Whitcomb, Louis L. and Gabor Fichtinger} } @conference {Xu2010b, title = {Clinical Accuracy of Robot-Assisted Prostate Biopsy in Closed MRI Scanner}, booktitle = {The Hamlyn Symposium on Medical Robotics}, year = {2010}, address = {The Royal Society, London, UK, 25 May 2010}, url = {http://www.hamlyn-robotics.org/}, author = {Xu, Helen and Andras Lasso and Siddharth Vikal and Peter Guion and Axel Krieger and Aradhana Kaushal and Whitcomb, Louis L. and Gabor Fichtinger} } @conference {Avni2010, title = {Design of a predictive targeting error simulator for MRI-guided prostate biopsy}, booktitle = {Medical Imaging 2010: Visualization, Image-Guided Procedures, and Modeling}, year = {2010}, month = {2010}, pages = {76251A-1 - 76251A-8}, publisher = {SPIE}, organization = {SPIE}, address = {San Diego, California, USA}, abstract = {

Multi-parametric MRI is a new imaging modality superior in quality to Ultrasound (US) which is currently used in standard prostate biopsy procedures. Surface-based registration of the pre-operative and intra-operative prostate volumes is a simple alternative to side-step the challenges involved with deformable registration. However, segmentation errors inevitably introduced during prostate contouring spoil the registration and biopsy targeting accuracies. For the crucial purpose of validating this procedure, we introduce a fully interactive and customizable simulator which determines the resulting targeting errors of simulated registrations between prostate volumes given user-provided parameters for organ deformation, segmentation, and targeting. We present the workflow executed by the simulator in detail and discuss the parameters involved. We also present a segmentation error introduction algorithm, based on polar curves and natural cubic spline interpolation, which introduces statistically realistic contouring errors. One simulation, including all I/O and preparation for rendering, takes approximately 1 minute and 40 seconds to complete on a system with 3 GB of RAM and four Intel Core 2 Quad CPUs each with a speed of 2.40 GHz. Preliminary results of our simulation suggest the maximum tolerable segmentation error given the presence of a 5.0 mm wide small tumor is between 4-5 mm. We intend to validate these results via clinical trials as part of our ongoing work.

}, keywords = {Biopsy, cancer, error, modeling, MRI, Prostate, segmentation, validation}, isbn = {0277-786X}, doi = {http://dx.doi.org/10.1117/12.844476}, author = {Shachar Avni and Siddharth Vikal and Gabor Fichtinger} } @conference {Tadayyon2010a, title = {MRI-Guided prostate motion tracking by means of multislice-to-volume registration}, booktitle = {SPIE Medical Imaging}, year = {2010}, month = {02/2010}, keywords = {Biopsy, motion tracking, MRI, slice-to-volume registation}, doi = {10.1117/12.844454}, author = {Hadi Tadayyon and Gabor Fichtinger and Andras Lasso and Siddharth Vikal and Sean Gill} } @conference {Xu2010c, title = {MRI-Guided Robotic Prostate Biopsy: A Clinical Accuracy Validation}, booktitle = {Medical Image Computing and Computer-Assisted Intervention (MICCAI 2010)}, year = {2010}, pages = {383-391}, publisher = {Springer}, organization = {Springer}, address = {Beijing, China}, isbn = {978-3-642-15710-3}, doi = {http://dx.doi.org/10.1007/978-3-642-15711-0_48}, author = {Xu, Helen and Andras Lasso and Siddharth Vikal and Peter Guion and Axel Krieger and Aradhana Kaushal and Whitcomb, Louis L. and Gabor Fichtinger} } @conference {Xu2010d, title = {MRI-Guided Transrectal Robotic Prostate Biopsy Validation}, booktitle = {The American Association of Physicists in Medicine (AAPM) Annual Meeting 2010, July 18-22}, volume = {37, 3128 (2010)}, year = {2010}, pages = {3128-3129}, address = {Philadelphia, Pennsylvania}, doi = {10.1118/1.3468153}, url = {http://dx.doi.org/10.1118/1.3468153}, author = {Xu, Helen and Andras Lasso and Siddharth Vikal and Peter Guion and Axel Krieger and Aradhana Kaushal and Whitcomb, Louis L. and Gabor Fichtinger} } @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 {U-Thainual2009a, title = {The Perk Station: Systems design for percutaneous intervention training suite}, booktitle = {Procedings IEEE International Conference on Robotics and Biomimetics ROBIO 2009}, year = {2009}, month = {22{\textendash}25 Feb}, pages = {1693{\textendash}1697}, address = {Bangkok, Thailand}, doi = {10 1109/ROBIO 2009 4913256}, author = {Paweena U-Thainual and Gregory Fischer and Iulian Iordachita and Siddharth Vikal and Gabor Fichtinger} } @article {Vikal2009a, title = {Perk Station-Percutaneous surgery training and performance measurement platform}, journal = {Computerized Medical Imaging and Graphics}, volume = {34}, year = {2009}, month = {05/2009}, pages = {19-32}, abstract = {

MOTIVATION: Image-guided percutaneous (through the skin) needle-based surgery has become part of routine clinical practice in performing procedures such as biopsies, injections, therapeutic implants A novice physician typically performs needle interventions under the supervision of a senior physician; a slow, inherently subjective training process that lacks objective, quantitative assessment of the surgical skill, performance Shortening the learning curve, increasing procedural consistency are important factors in assuring high-quality medical care METHODS: This paper describes a laboratory validation system, called Perk Station, for standardized training, performance measurement under different assistance techniques for needle-based surgical guidance systems The initial goal of the Perk Station is to assess, compare different techniques: 2D image overlay, biplane laser guide, laser protractor, conventional freehand The main focus of this manuscript is the planning, guidance software system developed on the 3D Slicer platform, a free, open source software package designed for visualization, analysis of medical image data RESULTS: The prototype Perk Station has been successfully developed, the associated needle insertion phantoms were built, and the graphical user interface was fully implemented The system was inaugurated in undergraduate teaching, a wide array of outreach activities Initial results, experiences, ongoing activities, future plans are reported

}, doi = {10.1016/j.compmedimag.2009.05.001}, url = {http://dx.doi.org/10.1016/j.compmedimag.2009.05.001}, author = {Siddharth Vikal and Paweena U-Thainual and John A Carrino and Iulian Iordachita and Gregory Fischer and Gabor Fichtinger} } @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} } @article {U-Thainual2009, title = {Teaching Aid for Computer-Assisted Surgery}, year = {2009}, author = {Paweena U-Thainual and Iulian Iordachita and Siddharth Vikal and Gabor Fichtinger} } @conference {Gill2008a, title = {Intraoperative Prostate Tracking with Slice-to-Volume Registration in MRI}, booktitle = {20th International Conference of the Society for Medical Innovation and Technology}, year = {2008}, month = {08/2008}, pages = {154-158}, publisher = {Society for Medical Innovation and Technology SMIT}, organization = {Society for Medical Innovation and Technology SMIT}, address = {Vienna, Austria, August 28-31, 2008}, isbn = {3-902087-25-0}, author = {Sean Gill and Purang Abolmaesumi and Siddharth Vikal and Parvin Mousavi and Gabor Fichtinger} } @conference {Boisvert2008, title = {An open-source solution for interactive acquisition, processing and transfer of interventional ultrasound images}, booktitle = {Workshop on Systems and Architectures for Computer Assisted Interventions, held in conjunction with the 11th International Conference on Medical Image Computing and Computer Assisted Intervention}, year = {2008}, author = {Jonathan Boisvert and David Gobbi and Siddharth Vikal and Robert Rohling and Gabor Fichtinger and Purang Abolmaesumi} } @conference {U-Thainual2008a, title = {The Perk Station: Portable training station for percutaneous interventions}, booktitle = {Orthopaedic Care Conference}, year = {2008}, author = {Paweena U-Thainual and Siddharth Vikal and Iulian Iordachita 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 {Ahmidi2008, title = {A System for Performance Analysis of Surgeon Dexterity in Percutaneous Needle-based Interventions}, booktitle = {7th Imaging Symposium of the Imaging Network of Ontario}, year = {2008}, author = {Narges Ahmidi and Paweena U-Thainual and Siddharth Vikal and Parvin Mousavi and Iulian Iordachita and Gabor Fichtinger} } @article {Vikal2006, title = {Automated Segmentation of Radiographic Fiducials for C-Arm Tracking}, journal = {Journal of Medical Physics}, volume = {33}, number = {6}, year = {2006}, pages = {2208-2208}, publisher = {AAPM}, doi = {10 1118/1 2241601}, url = {http://link aip org/link/?MPH/33/2208/3}, author = {Siddharth Vikal and Ameet K. Jain and Anton Degeut and Danny Y Song and Gabor Fichtinger} } @article {Vikal2006a, title = {Seed Segmentation in C-Arm Fluoroscopy for Brachytherapy Implant Reconstruction}, journal = {Journal of Medical Physics}, volume = {33}, number = {6}, year = {2006}, pages = {2229-2229}, publisher = {AAPM}, doi = {10 1118/1 2241679}, url = {http://link aip org/link/?MPH/33/2229/2}, author = {Siddharth Vikal and Ameet K. Jain and Anton Degeut and Danny Y Song and Gabor Fichtinger} }