@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 = {<p>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</p>
},
	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.}
}
@article {Krieger2005a,
	title = {Design of a novel MRI compatible manipulator for image guided prostate interventions},
	journal = {IEEE Transactions on Biomedical Engineering},
	volume = {52},
	number = {2},
	year = {2005},
	month = {Feb},
	pages = {306{\textendash}313},
	abstract = {<p>This paper reports a novel remotely actuated manipulator for access to prostate tissue under magnetic resonance imaging guidance (APT-MRI) device, designed for use in a standard high-field MRI scanner The device provides three-dimensional MRI guided needle placement with millimeter accuracy under physician control Procedures enabled by this device include MRI guided needle biopsy, fiducial marker placements, and therapy delivery Its compact size allows for use in both standard cylindrical, open configuration MRI scanners Preliminary in vivo canine experiments, first clinical trials are reported</p>
},
	keywords = {Animals, Biopsy, Computer-Assisted, Dogs, Equipment Design, Equipment Failure Analysis, Feasibility Studies, Imaging, instrumentation/methods, Magnetic Resonance Imaging, Male, Micromanipulation, Needle, pathology/surgery, Prostate, Reproducibility of Results, Robotics, Sensitivity, Specificity, Surgery, Three-Dimensional},
	doi = {10 1109/TBME 2004 840497},
	url = {http://dx doi org/10 1109/TBME 2004 840497},
	author = {Axel Krieger and Robert Susil and Cynthia Menard and Jonathan Coleman and Gabor Fichtinger and Ergin Atalar and Whitcomb, Louis L.}
}
