@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 {DiMaio2006,
	title = {Needle artifact localization in 3T MR images},
	journal = {Studies in health technology and informatics},
	volume = {119},
	year = {2006},
	pages = {120{\textendash}125},
	publisher = {Brigham, Women{\textquoteright}s Hospital, Harvard Medical School, Boston 02115, USA simond@bwh harvard edu},
	abstract = {<p>This work explores an image-based approach for localizing needles during MRI-guided interventions, for the purpose of tracking, navigation Susceptibility artifacts for several needles of varying thickness were imaged, in phantoms, using a 3 tesla MRI system, under a variety of conditions The relationship between the true needle positions, the locations of artifacts within the images, determined both by manual, automatic segmentation methods, have been quantified, are presented here</p>
},
	keywords = {Artifacts, Magnetic Resonance Imaging, Needles, United States},
	author = {Simon DiMaio and Daniel Kacher and Randy Ellis and Gabor Fichtinger and Nobuhiko Hata and Gary Zientara and Lawrence Panych and Ron Kikinis and Ferenc Jolesz}
}
