@article {Xu2013b, title = {Accuracy analysis in MRI-guided robotic prostate biopsy}, journal = {International Journal of Computer Assisted Radiology and Surgery}, volume = {8}, number = {6}, year = {2013}, month = {03/2013}, pages = {937-944}, doi = {10.1007/s11548-013-0831-9}, author = {Xu, Helen and Andras Lasso and Peter Guion and Axel Krieger and Aradhana Kaushal and Anurag K. Singh and P.A. Pinto and Jonathan Coleman and R.L. Grubb III and Jean-Baptiste Lattouf and Cynthia Menard and Whitcomb, Louis L. and Gabor Fichtinger} } @article {Xu2013, title = {Accuracy analysis in MRI-guided robotic prostate biopsy}, volume = {8}, number = {1}, year = {2013}, pages = {211}, publisher = {Springer}, address = {Heidelberg, Germany, June 26-29}, author = {Xu, Helen and Andras Lasso and Peter Guion and Axel Krieger and Aradhana Kaushal and Anurag K. Singh and P.A. Pinto and Jonathan Coleman and R.L. Grubb III and Jean-Baptiste Lattouf and Cynthia Menard and Whitcomb, Louis L. and Gabor Fichtinger} } @article {Krieger2011b, title = {Development and Evaluation of an Actuated MRI-Compatible Robotic System for MRI-Guided Prostate Intervention}, journal = {IEEE/ASME Transactions on Mechatronics}, year = {2011}, month = {2011}, pages = {PP}, issn = {1941-014X}, doi = {10.1109/TMECH.2011.2163523}, author = {Axel Krieger and Sam Sang-Eun Song and Nathan Bongjoon Cho and Iulian Iordachita and Peter Guion and Gabor Fichtinger and Whitcomb, Louis L.} } @article {Krieger2011, title = {An MRI-Compatible Robotic System with Hybrid Tracking for MRI-Guided Prostate Intervention}, journal = {IEEE Transactions on Biomedical Engineering}, volume = {58 PP}, year = {2011}, month = {04/2011}, doi = {10.1109/TBME.2011.2134096}, author = {Axel Krieger and Iulian Iordachita and Peter Guion and Anurag K. Singh and Aradhana Kaushal and Cynthia Menard and P.A. Pinto and Kevin Camphausen and Gabor Fichtinger and Whitcomb, Louis L.} } @article {Song2011b, title = {Needle Artifact Localization for Intraprocedural Biopsy Position Confirmation in 3T MRI-guided Robotic Transrectal Prostate Intervention}, volume = {4}, year = {2011}, month = {10/2011}, address = {Arlington VA, October 12-13, 2011}, author = {Sam Sang-Eun Song and Nathan Bongjoon Cho and Iulian Iordachita and Peter Guion and Gabor Fichtinger and Whitcomb, Louis L.} } @article {Song2011d, title = {A study of needle image artifact localization in confirmation imaging of MRI-guided robotic prostate biopsy}, year = {2011}, pages = {4834 - 4839}, publisher = {IEEE}, address = {Shanghai, China}, isbn = {978-1-61284-386-5}, doi = {10.1109/ICRA.2011.5980309}, author = {Sam Sang-Eun Song and Nathan Bongjoon Cho and Iulian Iordachita and Peter Guion and Gabor Fichtinger and Whitcomb, Louis L.} } @conference {Xu2010, title = {Accuracy validation for MRI-guided robotic prostate biopsy}, booktitle = {Medical Imaging 2010: Visualization, Image-Guided Procedures, and Modeling}, year = {2010}, pages = {762517 - 762517-8}, publisher = {SPIE}, organization = {SPIE}, address = {San Diego, California, USA}, doi = {10.1117/12.844251}, author = {Xu, Helen and Andras Lasso and Siddharth Vikal and Peter Guion and Axel Krieger and Aradhana Kaushal and Whitcomb, Louis L. and Gabor Fichtinger} } @conference {Xu2010b, title = {Clinical Accuracy of Robot-Assisted Prostate Biopsy in Closed MRI Scanner}, booktitle = {The Hamlyn Symposium on Medical Robotics}, year = {2010}, address = {The Royal Society, London, UK, 25 May 2010}, url = {http://www.hamlyn-robotics.org/}, author = {Xu, Helen and Andras Lasso and Siddharth Vikal and Peter Guion and Axel Krieger and Aradhana Kaushal and Whitcomb, Louis L. and Gabor Fichtinger} } @conference {Xu2010c, title = {MRI-Guided Robotic Prostate Biopsy: A Clinical Accuracy Validation}, booktitle = {Medical Image Computing and Computer-Assisted Intervention (MICCAI 2010)}, year = {2010}, pages = {383-391}, publisher = {Springer}, organization = {Springer}, address = {Beijing, China}, isbn = {978-3-642-15710-3}, doi = {http://dx.doi.org/10.1007/978-3-642-15711-0_48}, author = {Xu, Helen and Andras Lasso and Siddharth Vikal and Peter Guion and Axel Krieger and Aradhana Kaushal and Whitcomb, Louis L. and Gabor Fichtinger} } @conference {Xu2010d, title = {MRI-Guided Transrectal Robotic Prostate Biopsy Validation}, booktitle = {The American Association of Physicists in Medicine (AAPM) Annual Meeting 2010, July 18-22}, volume = {37, 3128 (2010)}, year = {2010}, pages = {3128-3129}, address = {Philadelphia, Pennsylvania}, doi = {10.1118/1.3468153}, url = {http://dx.doi.org/10.1118/1.3468153}, author = {Xu, Helen and Andras Lasso and Siddharth Vikal and Peter Guion and Axel Krieger and Aradhana Kaushal and Whitcomb, Louis L. and Gabor Fichtinger} } @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.} } @article {Fischer2008, title = {MRI Compatibility of Robot Actuation Techniques - A Comparative Study}, journal = {Medical Image Computing and Computer-Assisted Intervention (MICCAI) Proceedings in Lecture Notes in Computer Science}, volume = {5242}, year = {2008}, pages = {509-517}, author = {Gregory Fischer and Axel Krieger and Iulian Iordachita and Whitcomb, Louis L. and Gabor Fichtinger} } @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 {Kazanzides2008a, title = {Surgical and Interventional Robotics - Core Concepts, Technology and Design [Tutorial]}, journal = {IEEE Robotics \& Automation Magazine}, volume = {15}, number = {2}, year = {2008}, month = {June}, pages = {122{\textendash}130}, doi = {10 1109/MRA 2008 926390}, author = {Peter Kazanzides and Gabor Fichtinger and Gregory D. Hager and Allison Okamura and Whitcomb, Louis L. and Russell H. Taylor} } @article {Fichtinger2008, title = {Surgical and interventional robotics: Part II}, journal = {IEEE Robotics \& Automation Magazine}, volume = {15}, number = {3}, year = {2008}, month = {September}, pages = {94{\textendash}102}, doi = {10 1109/MRA 2008 927971}, author = {Gabor Fichtinger and Peter Kazanzides and Allison Okamura and Gregory D. Hager and Whitcomb, Louis L. and Russell H. Taylor} } @article {Hager2008, title = {Surgical and interventional robotics: part III [Tutorial]}, journal = {IEEE Robotics \& Automation Magazine}, volume = {15}, number = {4}, year = {2008}, month = {Dec}, pages = {84{\textendash}93}, doi = {10 1109/MRA 2008 930401}, author = {Gregory D. Hager and Allison Okamura and Peter Kazanzides and Whitcomb, Louis L. and Gabor Fichtinger and Russell H. Taylor} } @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 {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} } @conference {Krieger2006a, title = {Accuracy of Hybrid Tracking for a Novel MR-Guided Transrectal Prostate Interventional Device}, booktitle = {6th Interventional MRI Symposium}, year = {2006}, pages = {143-145}, author = {Axel Krieger and Iulian Iordachita and Greg Metzger and Peter Guion and Ergin Atalar and Gabor Fichtinger and Whitcomb, Louis L.} } @conference {Krieger2006, title = {A hybrid method for 6-DOF tracking of MRI-compatible robotic interventional devices}, booktitle = {Procedings IEEE International Conference on Robotics and Automation ICRA 2006}, year = {2006}, month = {15{\textendash}19 May}, pages = {3844{\textendash}3849}, doi = {10 1109/ROBOT 2006 1642290}, author = {Axel Krieger and Greg Metzger and Gabor Fichtinger and Ergin Atalar and Whitcomb, Louis L.} } @article {Chowning2006, title = {A preliminary analysis and model of prostate injection distributions}, journal = {The Prostate}, volume = {66}, number = {4}, year = {2006}, month = {Mar}, pages = {344{\textendash}357}, publisher = {Department of Biomedical Engineering, Johns Hopkins University School of Medicine, Baltimore, Maryland 21205, USA schowning@mri jhu edu}, abstract = {

PURPOSE: Understanding the internal dynamics of prostate injections, particularly injection pattern distribution is a key step to developing new therapies for prostate disease that may be best served with a direct injection approach Due to excellent properties involving liquid contrast agents, MRI can be used for targeting, monitoring of injections into organs, tissues MATERIALS AND METHODS: Eleven intraprostatic injections were performed in vivo with canines using a custom transrectal guiding, imaging system for use in a standard 1 5 T MR scanner In addition, 25 injections were performed on excised cadaveric human prostates, using a MedRad Spectris injector system MRI was used to guide the injections, monitor intraparenchymal injection distribution RESULTS: T1, T2-weighted MR images were correlated with histology to produce three-dimensional data sets that can be used to analyze trends in injection patterns This analysis was used to develop strategies for injection prediction such as gadolinium pre-injections, diffusion-weighted imaging guidance In addition, a rough model of prostate injections is described, and a preliminary injection guide is developed that takes into account the individual clinician{\textquoteright}s goals for therapy CONCLUSIONS: MR visualization of injected therapeutic agents allows for prediction, monitoring of drug distributions, possibly improving efficacy, reducing side effects Injection analysis, modeling may be used to assist in optimizing clinical treatments that require or would benefit from focal parenchymal injections into the prostate

}, keywords = {Animals, Antineoplastic Agents, Dogs, drug therapy, Forecasting, Magnetic Resonance Imaging, Male, Models, pharmacokinetics/pharmacology, Prostate, Prostatic Neoplasms, Rectum, Theoretical}, doi = {10 1002/pros 20298}, url = {http://dx doi org/10 1002/pros 20298}, author = {Scott Chowning and Robert Susil and Axel Krieger and Gabor Fichtinger and Whitcomb, Louis L. and Ergin Atalar} } @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 = {

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

}, 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 {Susil2006, title = {Transrectal prostate biopsy and fiducial marker placement in a standard 1 5T magnetic resonance imaging scanner}, journal = {The Journal of Urology}, volume = {175}, number = {1}, year = {2006}, month = {Jan}, pages = {113{\textendash}120}, publisher = {Department of Biomedical Engineering, Johns Hopkins University School of Medicine, Baltimore, Maryland, USA}, abstract = {

PURPOSE: We investigated the accuracy, feasibility of a system that provides transrectal needle access to the prostate concurrent with 1 5 Tesla MRI which previously has not been possible MATERIALS AND METHODS: In 5 patients with previously diagnosed prostate cancer, MRI guided intraprostatic placement of gold fiducial markers (4 procedures),/or prostate biopsy (3 procedures) was performed using local anesthesia RESULTS: Mean procedure duration was 76 minutes, all patients tolerated the intervention well Procedure related adverse events included self-limited hematuria, hematochezia following 3 of 8 procedures (all resolved in less than 1 week) Mean needle placement accuracy was 1 9 mm for the fiducial marker placement studies, 1 8 mm for the biopsy procedures Mean fiducial marker placement accuracy was 4 8 mm, the mean fiducial marker placement accuracy transverse to the needle direction was 2 6 mm All patients who underwent the procedure were able to complete their course of radiotherapy without delay or complication CONCLUSIONS: While studies of clinical usefulness are warranted, transrectal 1 5 T MRI guided prostate biopsy, fiducial marker placement is feasible using this system, providing new opportunities for image guided diagnostic, therapeutic prostate interventions

}, keywords = {Biopsy, Equipment Design, Feasibility Studies, Humans, instrumentation, instrumentation/methods, Magnetic Resonance Imaging, Male, Needle, pathology, Prostate, Prostatic Neoplasms}, doi = {10 1016/S0022-5347(05)00065-0}, url = {http://dx doi org/10 1016/S0022-5347(05)00065-0}, author = {Robert Susil and Cynthia Menard and Axel Krieger and Jonathan Coleman and Kevin Camphausen and Peter Choyke and Gabor Fichtinger and Whitcomb, Louis L. and Norman Coleman and Ergin Atalar} } @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 = {

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

}, 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.} } @article {Menard2005, title = {An Interventional MRI Technique for the Molecular Characterization of Intra-Prostatic Dynamic Contrast Enhancement}, journal = {Molecular Imaging}, volume = {4 No 1}, year = {2005}, pages = {63-66}, author = {Cynthia Menard and Robert Susil and Peter Choyke and Jonathan Coleman and R.L. Grubb III and Ahmed Gharib and Axel Krieger and Peter Guion and David Thomasson and Karen Ullman and Sandeep Gupta and Virginia Espina and Lance Liotta and Emanuel Petricoin and Gabor Fichtinger and Whitcomb, Louis L. and Ergin Atalar and Norman Coleman and Kevin Camphausen} } @conference {Krieger2005, title = {MRI Guided Prostate Interventions in 3T}, booktitle = {International Society of Magnetic Resonance in Medicine (ISMRM)}, year = {2005}, author = {Axel Krieger and Peter Guion and Abdel-Monem El-Sharkawy and Greg Metzger and Jonathan Coleman and R.L. Grubb III and Di Qian and Ahmed Gharib and David Thomasson and Anurag K. Singh and Gabor Fichtinger and Whitcomb, Louis L. and Cynthia Menard and Ergin Atalar} } @conference {Krieger2004, title = {Design of a novel MRI compatible manipulator for image guided prostate intervention}, booktitle = {Procedings IEEE International Conference on Robotics and Automation ICRA {\textquoteright}04}, volume = {1}, year = {2004}, pages = {377{\textendash}382}, doi = {10 1109/ROBOT 2004 1307179}, author = {Axel Krieger and Robert Susil and Gabor Fichtinger and Ergin Atalar and Whitcomb, Louis L.} } @conference {Menard2004, title = {Integrating Diagnostic and Interventional MRI for the Molecular Characterization of Prostate Cancer}, booktitle = {5th Interventional MRI Symposium}, year = {2004}, author = {Cynthia Menard and Robert Susil and Peter Choyke and Jonathan Coleman and R.L. Grubb III and Axel Krieger and Ahmed Gharib and Peter Guion and David Thomasson and Jacek Capala and Sandeep Gupta and Gabor Fichtinger and Whitcomb, Louis L. and Norman Coleman and Kevin Camphausen and Ergin Atalar} } @conference {Menard2004a, title = {MRI For The Molecular Characterization Of Prostate Cancer Integrating Diagnostic And Interventional MRI For The Molecular Characterization Of Prostate Cancer}, booktitle = {5th Interventional MRI Symposium}, year = {2004}, pages = {26}, author = {Cynthia Menard and Robert Susil and Peter Choyke and Jonathan Coleman and R.L. Grubb III and Axel Krieger and Ahmed Gharib and Peter Guion and David Thomasson and Jacek Capala and Sandeep Gupta and Gabor Fichtinger and Whitcomb, Louis L. and Norman Coleman and Kevin Camphausen and Ergin Atalar} } @conference {Susil2004, title = {MRI Guidance and Monitoring of Injected Therapeutic Agents}, booktitle = {Annual Meeting of International Society of Magnetic Resonance in Medicine (ISMRM)}, year = {2004}, author = {Robert Susil and Scott Chowning and Axel Krieger and Gabor Fichtinger and Whitcomb, Louis L. and Ergin Atalar} } @conference {Krieger2004a, title = {A Novel MRI Compatible Manipulator for Prostate Interventions}, booktitle = {Annual Meeting of International Society of Magnetic Resonance in Medicine (ISMRM)}, year = {2004}, author = {Axel Krieger and Robert Susil and Cynthia Menard and Jonathan Coleman and Gabor Fichtinger and Whitcomb, Louis L. and Ergin Atalar} } @conference {Coleman2004, title = {Technique and Accuracy of a Clinical System for Transrectal Intraprostatic Needle Placement in a Standard 1 5T MRI Scanner}, booktitle = {American Urological Association}, year = {2004}, author = {Jonathan Coleman and Robert Susil and Axel Krieger and Peter Choyke and Betty Wise and David Thomasson and Ahmed Gharib and Whitcomb, Louis L. and Gabor Fichtinger and Marston Linehan and Norman Coleman and Kevin Camphausen and Ergin Atalar and Cynthia Menard} } @conference {Susil2004a, title = {Transrectal Prostate Biopsy and Fiducial Marker Placement in a Standard 1 5T MRI Scanner}, booktitle = {Annual Meeting of International Society of Magnetic Resonance in Medicine (ISMRM)}, year = {2004}, author = {Robert Susil and Cynthia Menard and Axel Krieger and Jonathan Coleman and Kevin Camphausen and Peter Choyke and Karen Ullman and Sharon Smith and Gabor Fichtinger and Whitcomb, Louis L. and Norman Coleman and Ergin Atalar} } @conference {Susil2003b, title = {MRI Guided Intraprostatic Therapeutic Injections in a Closed, 1 5T Scanner}, booktitle = {International Society of Magnetic Resonance Imaging in Medicine, Eleventh Scientific Meeting}, year = {2003}, pages = {687}, author = {Robert Susil and Axel Krieger and Andrew Derbyshire and Whitcomb, Louis L. and Gabor Fichtinger and Ergin Atalar} } @conference {Susil2003a, title = {An MRI System for Guidance and Monitoring of Transrectal Prostate Interventions in a 1 5T Scanner}, booktitle = {Radiological Society of North America, 89th Scientific Assembly}, year = {2003}, author = {Robert Susil and Axel Krieger and Cynthia Menard and Jonathan Coleman and Kevin Camphausen and Peter Choyke and Norman Coleman and Whitcomb, Louis L. and Gabor Fichtinger and Ergin Atalar} } @article {Fichtinger2003, title = {Prostate biopsy and local therapy inside conventional closed mri with robotic assistance - animal studies}, journal = {Journal of Academic Radiology}, volume = {10}, number = {8}, year = {2003}, pages = {955 - 955}, issn = {1076-6332}, doi = {DOI: 10 1016/S1076-6332(03)00042-4}, url = {http://www sciencedirect com/science/article/B75BK-496D439-31/2/7aa2439d75eef1a22dca0f298c235db2}, author = {Gabor Fichtinger and Robert Susil and Axel Krieger and Attila Tanacs and Whitcomb, Louis L. and Ergin Atalar} } @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 = {

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

}, 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} } @conference {Krieger2002, title = {MRI Compatible Device for MRI Guided Transrectal Prostate Biopsy}, booktitle = {International Society of Magnetic Resonance Imaging in Medicine, Tenth Scientific Meeting}, year = {2002}, pages = {338}, author = {Axel Krieger and Robert Susil and Attila Tanacs and Whitcomb, Louis L. and Gabor Fichtinger and Ergin Atalar} } @conference {Susil2002a, title = {A Real-time MRI System for Guidance and Monitoring of Prostate Biopsy}, booktitle = {International Society of Magnetic Resonance Imaging in Medicine, Tenth Scientific Meeting}, year = {2002}, pages = {2237}, author = {Robert Susil and Andrew Derbyshire and Axel Krieger and Attila Tanacs and Meiyappan Solaiyappan and Whitcomb, Louis L. and Elliot McVeigh and Gabor Fichtinger and Ergin Atalar} } @conference {Susil2002, title = {A system for guidance and monitoring of transrectal prostate biopsy in a 1 5 T closed MR scanner}, booktitle = {European Radiology}, volume = {12(9)}, year = {2002}, author = {Robert Susil and Axel Krieger and Andrew Derbyshire and Attila Tanacs and Elliot McVeigh and Whitcomb, Louis L. and Gabor Fichtinger and Ergin Atalar} } @conference {Susil2002b, title = {A System for Guidance and Monitoring of Transrectal Prostate Biopsy in a 1 5 T Closed MR Scanner}, booktitle = {International Symposium of IVMRI}, year = {2002}, author = {Robert Susil and Axel Krieger and Andrew Derbyshire and Attila Tanacs and Elliot McVeigh and Whitcomb, Louis L. and Gabor Fichtinger and Ergin Atalar} } @article {Fichtinger2002a, title = {Transrectal prostate biopsy inside closed MRI scanner with remote actuation and under real-time image guidance}, journal = {Lecture Notes in Computer Science Medical Image Computing and Computer-Assisted Intervention (MICCAI)}, volume = {2488 part 1}, year = {2002}, pages = {91-98}, author = {Gabor Fichtinger and Axel Krieger and Robert Susil and Attila Tanacs and Whitcomb, Louis L. and Ergin Atalar} }