@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 {Kemper2005,
	title = {Transrectal Fiducial Carrier for Radiographic Image Registration in Prostate Brachytherapy},
	journal = {Journal of Medical Physics},
	volume = {32},
	number = {6},
	year = {2005},
	pages = {2108-2108},
	doi = {10 1118/1 1998447},
	url = {http://link aip org/link/?MPH/32/2108/2},
	author = {Jacob Kemper and Astrid Burkholder and Ameet K. Jain and Tabish Mustufa and Keenan Wyrobek and E. Clif Burdette and Danny Y Song and Allison Okamura and Gabor Fichtinger}
}
@conference {Schneider2004,
	title = {A robotic system for transrectal needle insertion into the prostate with integrated ultrasound},
	booktitle = {Procedings IEEE International Conference on Robotics and Automation ICRA {\textquoteright}04},
	volume = {1},
	year = {2004},
	pages = {365{\textendash}370},
	doi = {10 1109/ROBOT 2004 1307177},
	author = {Chad Schneider and Allison Okamura and Gabor Fichtinger}
}
@article {Boctor2004d,
	title = {Virtual remote center of motion control for needle placement robots},
	journal = {Journal of Computer Assisted Surgery},
	volume = {9 (5)},
	year = {2004},
	pages = {175-183},
	author = {Emad Boctor and Robert Webster and Herve Mathieu and Allison Okamura and Gabor Fichtinger}
}
@article {Boctor2003b,
	title = {Virtual remote center of motion control for needle placement robots},
	journal = {Journal of Computer Aided Surgery},
	volume = {9},
	number = {5},
	year = {2003},
	pages = {175{\textendash}183},
	abstract = {<p>OBJECTIVE: We present an algorithm that enables percutaneous needle-placement procedures to be performed with unencoded, unregistered, minimally calibrated robots while removing the constraint of placing the needle tip on a mechanically enforced Remote Center of Motion (RCM) MATERIALS AND METHODS: The algorithm requires only online tracking of the surgical tool, a five-degree-of-freedom (5-DOF) robot comprising three prismatic DOF, two rotational DOF An incremental adaptive motion control cycle guides the needle to the insertion point, also orients it to align with the target-entry-point line The robot executes RCM motion without having a physically constrained fulcrum point RESULTS: The proof-of-concept prototype system achieved 0 78 mm translation accuracy, 1 4 degrees rotational accuracy (this is within the tracker accuracy) within 17 iterative steps (0 5-1 s) CONCLUSION: This research enables robotic assistant systems for image-guided percutaneous procedures to be prototyped/constructed more quickly, less expensively than has been previously possible Since the clinical utility of such systems is clear, has been demonstrated in the literature, our work may help promote widespread clinical adoption of this technology by lowering system cost, complexity</p>
},
	keywords = {Algorithms, Computer-Assisted, Equipment Design, Imaging, instrumentation, Needles, Robotics, Surgery, Three-Dimensional},
	doi = {10 1080/10929080500097661},
	url = {http://dx doi org/10 1080/10929080500097661},
	author = {Emad Boctor and Robert Webster and Herve Mathieu and Allison Okamura and Gabor Fichtinger}
}
