@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.}
}
