@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 {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} }