@conference {Foroughi2009, title = {Multi-modality fusion of CT and 3D ultrasound and tracked strain images for breast irradiation planning}, booktitle = {SPIE Medical Imaging 2009: Ultrasonic Imaging and Signal Processing}, volume = {7265}, number = {72651B}, year = {2009}, author = {Pezhman Foroughi and Csaba Csoma and Hassan Rivaz and Gabor Fichtinger and Richard Zellars and Gregory D. Hager and Emad Boctor} } @conference {Krieger2008a, title = {Design and Preliminary Clinical Studies of an MRI-Guided Transrectal Prostate Intervention System}, booktitle = {7th International Symposium on Interventional MRI}, year = {2008}, pages = {6-10}, author = {Axel Krieger and Iulian Iordachita and Csaba Csoma and Gabor Fichtinger and Whitcomb, Louis L.} } @conference {Krieger2008, title = {Design and Preliminary Clinical Studies of an MRI-Guided Transrectal Prostate Intervention System}, booktitle = {International Society of Magnetic Resonance in Medicine (ISMRM)}, year = {2008}, author = {Axel Krieger and Peter Guion and Csaba Csoma and Iulian Iordachita and Anurag K. Singh and Aradhana Kaushal and Cynthia Menard and Gabor Fichtinger and Whitcomb, Louis L.} } @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} } @conference {Krieger2008b, title = {MRI Guided Prostate Biopsy and Marker Placements}, booktitle = {Workshop on Clinical Image-Guided Therapy: Opportunities and Needs}, year = {2008}, author = {Axel Krieger and Peter Guion and Csaba Csoma and Iulian Iordachita and Anurag K. Singh and Aradhana Kaushal and Whitcomb, Louis L. and Gabor Fichtinger} } @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 {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 {Krieger2007a, title = {Design and preliminary accuracy studies of an MRI-guided transrectal prostate intervention system}, journal = {Medical image computing and computer-assisted intervention (MICCAI)}, volume = {10}, number = {Pt 2}, year = {2007}, pages = {59{\textendash}67}, publisher = {Department of Mechanical Engineering, Johns Hopkins University, Baltimore, USA}, abstract = {

This paper reports a novel system for magnetic resonance imaging (MRI) guided transrectal prostate interventions, such as needle biopsy, fiducial marker placement, and therapy delivery The system utilizes a hybrid tracking method, comprised of passive fiducial tracking for initial registration, subsequent incremental motion measurement along the degrees of freedom using fiber-optical encoders, mechanical scales Targeting accuracy of the system is evaluated in prostate phantom experiments Achieved targeting accuracy, procedure times were found to compare favorably with existing systems using passive, active tracking methods Moreover, the portable design of the system using only standard MRI image sequences, minimal custom scanner interfacing allows the system to be easily used on different MRI scanners

}, keywords = {Algorithms, Artificial Intelligence, Automated, Biopsy, Computer-Assisted, Equipment Design, Equipment Failure Analysis, Humans, Image Enhancement, Image Interpretation, Imaging, instrumentation/methods, Interventional, Magnetic Resonance Imaging, Male, methods, Needle, pathology/surgery, Pattern Recognition, Pilot Projects, Prostatectomy, Prostatic Neoplasms, Rectum, Reproducibility of Results, Robotics, Sensitivity, Specificity, Three-Dimensional, User-Computer Interface}, author = {Axel Krieger and Csaba Csoma and Iulian Iordachita and Peter Guion and Anurag K. Singh and Gabor Fichtinger and Whitcomb, Louis L.} } @conference {Fischer2007c, title = {Evaluation of MR Image Overlay for Spinal Interventions}, booktitle = {International Society for Magnetic Resonance in Medicine 15th Scientific Meeting - ISMRM}, year = {2007}, pages = {3394}, author = {Gregory Fischer and Clifford Weiss and Eva Dyer and Csaba Csoma and Anton Degeut and John A Carrino and Gabor Fichtinger} } @article {Fischer2007, title = {MRI image overlay: application to arthrography needle insertion}, journal = {Journal of Computer Aided Surgery}, volume = {12}, number = {1}, year = {2007}, month = {Jan}, pages = {2{\textendash}14}, publisher = {Engineering Research Center, Johns Hopkins University, Baltimore, Maryland, USA gfisch@jhu edu}, abstract = {

Magnetic Resonance Imaging (MRI) offers great potential for planning, guiding, monitoring, controlling interventions MR arthrography (MRAr) is the imaging gold standard for assessing small ligament, fibrocartilage injury in joints In contemporary practice, MRAr consists of two consecutive sessions: (1) an interventional session where a needle is driven to the joint space, MR contrast is injected under fluoroscopy or CT guidance;, (2) a diagnostic MRI imaging session to visualize the distribution of contrast inside the joint space, evaluate the condition of the joint Our approach to MRAr is to eliminate the separate radiologically guided needle insertion, contrast injection procedure by performing those tasks on conventional high-field closed MRI scanners We propose a 2D augmented reality image overlay device to guide needle insertion procedures This approach makes diagnostic high-field magnets available for interventions without a complex, expensive engineering entourage In preclinical trials, needle insertions have been performed in the joints of porcine, human cadavers using MR image overlay guidance; in all cases, insertions successfully reached the joint space on the first attempt

}, keywords = {Arthrography, Cartilage, Contrast Media, diagnosis, Humans, injuries, instrumentation, Joint Diseases, Ligaments, Magnetic Resonance Imaging, Needles}, doi = {10 1080/10929080601169930}, url = {http://dx doi org/10 1080/10929080601169930}, author = {Gregory Fischer and Anton Degeut and Csaba Csoma and Russell H. Taylor and Laura Fayad and John A Carrino and James Zinreich and Gabor Fichtinger} } @conference {Krieger2007, title = {Phantom Experiments with a Novel MR-Guided Transrectal Prostate Interventional System}, booktitle = {International Society of Magnetic Resonance in Medicine (ISMRM)}, year = {2007}, author = {Axel Krieger and Csaba Csoma and Peter Guion and Iulian Iordachita and Greg Metzger and Di Qian and Anurag K. Singh and Whitcomb, Louis L. and Gabor Fichtinger} } @article {Fischer2007a, title = {Validation system of MR image overlay and other needle insertion techniques}, journal = {Studies in health technology and informatics}, volume = {125}, year = {2007}, pages = {130{\textendash}135}, publisher = {Engineering Research Center, Johns Hopkins University, Baltimore, MD, USA}, abstract = {

In order to develop accurate, effective augmented reality (AR) systems used in MR, CT guided needle placement procedures, a comparative validation environment is necessary Clinical equipment is prohibitively expensive, often inadequate for precise measurement Therefore, we have developed a laboratory validation system for measuring operator performance using different assistance techniques Electromagnetically tracked needles are registered with the preoperative plan to measure placement accuracy, the insertion path The validation system provides an independent measure of accuracy that can be applied to varying methods of assistance ranging from augmented reality guidance methods to tracked navigation systems, autonomous robots In preliminary studies, this validation system is used to evaluate the performance of the image overlay, bi-plane laser guide, and traditional freehand techniques

}, keywords = {Computer Simulation, Magnetic Resonance Imaging, Needles, Reproducibility of Results, Tomography, United States, X-Ray Computed}, author = {Gregory Fischer and Eva Dyer and Csaba Csoma and Anton Degeut and Gabor Fichtinger} } @conference {Fischer2006h, title = {Image Overlay for MR-Guided Joint Arthrography}, booktitle = {6th Interventional MRI Symposium}, year = {2006}, pages = {240-242}, author = {Gregory Fischer and Anton Degeut and Csaba Csoma and Russell H. Taylor and Laura Fayad and John A Carrino and James Zinreich and Gabor Fichtinger} } @conference {Fischer2006i, title = {MRI Image Overlay: Application to Arthrography Needle Insertion}, booktitle = {AMI-ARCS workshop to the 9th MICCAI Conference}, year = {2006}, author = {Gregory Fischer and Anton Degeut and Csaba Csoma and Russell H. Taylor and Laura Fayad and John A Carrino and James Zinreich and Gabor Fichtinger} } @conference {Fischer2006e, title = {MRI Image Overlay: Joint Arthrography Porcine Trials}, booktitle = {International Society for Magnetic Resonance in Medicine 14th Scientific Meeting - ISMRM}, year = {2006}, pages = {1735}, author = {Gregory Fischer and Anton Degeut and Csaba Csoma and Russell H. Taylor and Laura Fayad and James Zinreich and Gabor Fichtinger} }