@article {DiMaio2006b,
	title = {Robot-assisted needle placement in open-MRI: system architecture, integration and validation},
	journal = {Studies in health technology and informatics},
	volume = {119},
	year = {2006},
	pages = {126{\textendash}131},
	publisher = {Brigham, Women{\textquoteright}s Hospital, Harvard Medical School, USA simond@bwh harvard edu},
	abstract = {<p>This work describes an integrated system for planning, performing percutaneous procedures-such as prostate biopsy-with robotic assistance under MRI-guidance The physician interacts with a planning interface in order to specify the set of desired needle trajectories, based on anatomical structures, lesions observed in the patient{\textquoteright}s MR images All image-space coordinates are automatically computed, and used to position a needle guide by means of an MRI-compatible robotic manipulator, thus avoiding the limitations of the traditional fixed needle template Direct control of real-time imaging aids visualization of the needle as it is manually inserted through the guide Results from in-scanner phantom experiments are provided</p>
},
	keywords = {Biopsy, Computer Systems, diagnosis, Humans, instrumentation, Magnetic Resonance Imaging, Male, Needle, Prostatic Neoplasms, Robotics},
	author = {Simon DiMaio and Steve Pieper and Kiyoyuki Chinzei and Nobuhiko Hata and Emese Balogh and Gabor Fichtinger and Clare M Tempany and Ron Kikinis}
}
@article {Fichtinger2005,
	title = {Image overlay for CT-guided needle insertions},
	journal = {Journal of Computer Aided Surgery},
	volume = {10},
	number = {4},
	year = {2005},
	month = {Jul},
	pages = {241{\textendash}255},
	abstract = {<p>OBJECTIVE: We present a 2D image overlay device to assist needle placement on computed tomography (CT) scanners MATERIALS AND METHODS: The system consists of a flat display, a semitransparent mirror mounted on the gantry When the physician looks at the patient through the mirror, the CT image appears to be floating inside the body with correct size, position as if the physician had 2D {\textquoteright}X-ray vision{\textquoteright} The physician draws the optimal path on the CT image The composite image is rendered on the display, thus reflected in the mirror The reflected image is used to guide the physician in the procedure In this article, we describe the design, various embodiments of the 2D image overlay system, followed by the results of phantom, cadaver experiments in multiple clinical applications RESULTS: Multiple skeletal targets were successfully accessed with one insertion attempt Generally, successful access was recorded on liver targets when a clear path opened, but the number of attempts, accuracy showed variability because of occasional lack of access Soft tissue deformation further reduced the accuracy, consistency in comparison to skeletal targets CONCLUSION: The system demonstrated strong potential for reducing faulty needle insertion attempts, thereby reducing X-ray dose, patient discomfort</p>
},
	keywords = {Animals, Biopsy, Cadaver, Calibration, Computer-Assisted, Equipment Design, Humans, Image Processing, Imaging, instrumentation, Interventional, Needle, Phantoms, Radiography, Swine, Tomography, User-Computer Interface, X-Ray Computed},
	doi = {10 1080/10929080500230486},
	url = {http://dx doi org/10 1080/10929080500230486},
	author = {Gabor Fichtinger and Anton Degeut and Gregory Fischer and Iulian Iordachita and Emese Balogh and Ken Masamune and Russell H. Taylor and Laura Fayad and Michelle de Oliveira and James Zinreich}
}
