@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}
}
@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}
}
@article {DiMaio2007a,
	title = {Robot-assisted needle placement in open MRI: system architecture, integration and validation},
	journal = {Journal of Computer Aided Surgery},
	volume = {12},
	number = {1},
	year = {2007},
	month = {Jan},
	pages = {15{\textendash}24},
	publisher = {Brigham, Women{\textquoteright}s Hospital, Harvard Medical School, Boston, Massachusetts 02115, USA simond@bwh harvard edu},
	abstract = {<p>In prostate cancer treatment, there is a move toward targeted interventions for biopsy, therapy, which has precipitated the need for precise image-guided methods for needle placement This paper describes an integrated system for planning, performing percutaneous procedures with robotic assistance under MRI guidance A graphical planning interface allows the physician to specify the set of desired needle trajectories, based on anatomical structures, lesions observed in the patient{\textquoteright}s registered pre-operative, pre-procedural MR images, immediately prior to the intervention in an open-bore MRI scanner All image-space coordinates are automatically computed, and are used to position a needle guide by means of an MRI-compatible robotic manipulator, thus avoiding the limitations of the traditional fixed needle template Automatic alignment of real-time intra-operative images aids visualization of the needle as it is manually inserted through the guide Results from in-scanner phantom experiments are provided</p>
},
	keywords = {Biopsy, diagnosis, Humans, instrumentation/methods, Magnetic Resonance Imaging, Male, Needle, Neuronavigation, Prostatic Neoplasms, Robotics},
	doi = {10 1080/10929080601168254},
	url = {http://dx doi org/10 1080/10929080601168254},
	author = {Simon DiMaio and Steve Pieper and Kiyoyuki Chinzei and Nobuhiko Hata and Steven Haker and Daniel Kacher and Gabor Fichtinger and Clare M Tempany and Ron Kikinis}
}
@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}
}
@conference {DiMaio2006c,
	title = {Design of a Prostate Needle Placement Robot in MRI Scanner},
	booktitle = {IEEE International Conference on Biomedical Robotics},
	year = {2006},
	author = {Simon DiMaio and Gregory Fischer and Steven Haker and Nobuhiko Hata and Iulian Iordachita and Clare M Tempany and Gabor Fichtinger}
}
