@article {Fichtinger2006,
	title = {Robotically assisted prostate brachytherapy with transrectal ultrasound guidance{\textendash}Phantom experiments},
	journal = {Brachytherapy},
	volume = {5},
	number = {1},
	year = {2006},
	pages = {14{\textendash}26},
	publisher = {Engineering Research Center, The Johns Hopkins University, Baltimore, MD 21218-2682, USA gabor@cs jhu edu},
	abstract = {<p>PURPOSE: To report the preliminary experimental results obtained with a robot-assisted transrectal ultrasound (TRUS)-guided prostate brachytherapy system METHODS AND MATERIALS: The system consists of a TRUS unit, a spatially coregistered needle insertion robot, and an FDA-approved treatment planning, image-registered implant system The robot receives each entry/target coordinate pair of the implant plan, inserts a preloaded needle, and then the seeds are deposited The needles/sources are tracked in TRUS, thus allowing the plan to be updated as the procedure progresses RESULTS: The first insertion attempt was recorded for each needle, without adjustment All clinically relevant locations were reached in a prostate phantom Nonparallel, parallel needle trajectories were demonstrated Based on TRUS, the average transverse placement error was 2 mm (worst case 2 5 mm, 80\% less than 2 mm), and the average sagittal error was 2 5 mm (worst case 5 0 mm, 70\% less than 2 5 mm) CONCLUSIONS: The concept, technical viability of robot-assisted brachytherapy were demonstrated in phantoms The kinematically decoupled robotic assistant device is inherently safe Overall performance was promising, but further optimization is necessary to prove the possibility of improved dosimetry</p>
},
	keywords = {Anatomic, Brachytherapy, Endosonography, Equipment Design, Humans, instrumentation, Male, methods, Models, Prostatic Neoplasms, radiotherapy/ultrasonography, Rectum, Robotics},
	doi = {10 1016/j brachy 2005 10 003},
	url = {http://dx doi org/10 1016/j brachy 2005 10 003},
	author = {Gabor Fichtinger and E. Clif Burdette and Attila Tanacs and Alexandru Patriciu and Dumitru Mazilu and Whitcomb, Louis L. and Dan Stoianovici}
}
@article {Susil2003,
	title = {System for MR image-guided prostate interventions: canine study},
	journal = {Radiology},
	volume = {228},
	number = {3},
	year = {2003},
	month = {Sep},
	pages = {886{\textendash}894},
	abstract = {<p>The purpose of this study was to demonstrate the use of a transrectal system that enables precise magnetic resonance (MR) image guidance, monitoring of prostate interventions The system used a closed-bore 1 5-T MR imaging unit, enables one to take advantage of the higher signal-to-noise ratio achieved with traditional magnet designs, which is crucial for accurate targeting, monitoring of prostate interventions In the first of the four canine studies, reliable needle placement, with all needles placed within 2 mm of the desired target site, was achieved In two other studies, MR imaging was used to monitor distribution of injected contrast agent solution (gadopentetate dimeglumine mixed with trypan blue dye) in, around the prostate, thereby confirming that solution had been delivered to the desired tissue, also detecting faulty injections In the final study, accurate placement, MR imaging of brachytherapy seeds in the prostate were demonstrated The described system provides a flexible platform for a variety of minimally invasive MR image-guided therapeutic, diagnostic prostate interventions</p>
},
	keywords = {administration /\&/ dosage, administration /\&/ dosage/diagnostic use, Animals, Brachytherapy, Contrast Media, Dogs, Gadolinium DTPA, Injections, Intralesional, Magnetic Resonance Imaging, Male, methods, Prostate, Prostatic Neoplasms, Radiography, Radiotherapy, Trypan Blue},
	doi = {10 1148/radiol 2283020911},
	url = {http://dx doi org/10 1148/radiol 2283020911},
	author = {Robert Susil and Axel Krieger and Andrew Derbyshire and Attila Tanacs and Whitcomb, Louis L. and Gabor Fichtinger and Ergin Atalar}
}
