@article {Connolly2022c, title = {Bridging 3D Slicer and ROS2 for Image-Guided Robotic Interventions}, journal = {Sensors}, volume = {22}, year = {2022}, month = {07/2022}, doi = {https://doi.org/10.3390/s22145336}, author = {Laura Connolly and Anton Degeut and Simon Leonard and Junichi Tokuda and Tamas Ungi and Axel Krieger and Peter Kazanzides and Parvin Mousavi and Gabor Fichtinger and Russell H. Taylor} } @conference {Connolly2021, title = {An open-source platform for cooperative semi-autonomous robotic surgery}, booktitle = {IEEE International Conference on Autonomous Systems}, year = {2021}, month = {10/2021}, publisher = {IEEE}, organization = {IEEE}, address = {Montreal, Quebec}, doi = {https://doi.org/10.1109/ICAS49788.2021.9551149}, author = {Laura Connolly and Anton Degeut and Kyle R. Sunderland and Andras Lasso and Tamas Ungi and John Rudan and Russell H. Taylor and Parvin Mousavi and Gabor Fichtinger} } @article {Connolly2021b, title = {A platform for robot-assisted Intraoperative imaging in breast conserving surgery}, year = {2021}, month = {2021}, publisher = {Imaging Network of Ontario Symposium}, address = {Online}, author = {Laura Connolly and Kyle R. Sunderland and Andras Lasso and Anton Degeut and Tamas Ungi and John Rudan and Russell H. Taylor and Parvin Mousavi and Gabor Fichtinger} } @conference {Foroughi2008b, title = {Automatic initialization for 3D bone registration}, booktitle = {Medical Imaging 2008: Visualization, Image-guided Procedures, and Modeling}, volume = {6918}, number = {1}, year = {2008}, pages = {69182P}, publisher = {SPIE}, organization = {SPIE}, doi = {10 1117/12 772632}, url = {http://link aip org/link/?PSI/6918/69182P/1}, author = {Pezhman Foroughi and Russell H. Taylor and Gabor Fichtinger}, editor = {Michael I. Miga and Kevin Cleary} } @article {Foroughi2008, title = {Localization of pelvic anatomical coordinate system using US/atlas registration for total hip replacement}, journal = {Medical image computing and computer-assisted intervention (MICCAI)}, volume = {11}, number = {Pt 2}, year = {2008}, pages = {871{\textendash}879}, publisher = {Johns Hopkins University, Baltimore, MD, USA pezhman@cs jhu edu}, abstract = {

In Total Hip Replacement (THR) procedures, misalignment of the acetabular component can lead to dislocation, impingement For the successful alignment of acetabular component, precise estimation of pelvic anatomical coordinate system is necessary Conventional navigation systems use CT scan or fluoroscopy, or involve implanted bone fiducials or invasive probing of bony landmarks to locate the anatomical coordinate In this paper, an ultrasound-based approach is proposed that exploits prior knowledge about the anatomy of the pelvis in the form of a 3D surface atlas Tracked ultrasound images are utilized to extract sample points from the surface of the pelvis A generic coordinate system in the specific patient is localized by registering these points to a statistical atlas of the pelvis in which a canonical anatomical coordinate system had been defined This technique has been evaluated using simulation, dry bone, and cadaver experiments, was able to localize the anatomical coordinate system with the accuracy of about 1 degree

}, keywords = {Algorithms, Arthroplasty, Automated, Computer-Assisted, Hip, Hip Joint, Humans, Image Enhancement, Image Interpretation, Imaging, methods, Pattern Recognition, Pelvic Bones, Replacement, Reproducibility of Results, Sensitivity, Specificity, Subtraction Technique, Surgery, surgery/ultrasonography, Three-Dimensional, Ultrasonography}, author = {Pezhman Foroughi and Danny Y Song and Gouthami Chintalapani and Russell H. Taylor and Gabor Fichtinger} } @inbook {Taylor2008, title = {Medical Robots and Systems}, booktitle = {Springer Handbook of Robotics}, year = {2008}, pages = {na}, publisher = {Springer}, organization = {Springer}, chapter = {52. Medical Robotics and Computer-Integrated Surgery}, author = {Russell H. Taylor and Arianna Menciassi and Gabor Fichtinger and Paolo Dario} } @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} } @conference {Foroughi2008a, title = {Ultrasound Based Localization of Pelvic Anatomical Coordinate System}, booktitle = {8th Annual Meeting of Computer Assisted Orthopedic Surgery International (CAOS)}, year = {2008}, pages = {81-83}, author = {Pezhman Foroughi and Danny Y Song and Russell H. Taylor and Gabor Fichtinger} } @article {DiMaio2007b, title = {Challenges in image-guided therapy system design}, journal = {Neuroimage}, volume = {37 Suppl 1}, year = {2007}, pages = {S144{\textendash}S151}, publisher = {Brigham, Women{\textquoteright}s Hospital, 75 Francis St , Boston, MA 02115, USA simond@bwh harvard edu}, abstract = {

System development for image-guided therapy (IGT), or image-guided interventions (IGI), continues to be an area of active interest across academic, industry groups This is an emerging field that is growing rapidly: major academic institutions, medical device manufacturers have produced IGT technologies that are in routine clinical use, dozens of high-impact publications are published in well regarded journals each year, and several small companies have successfully commercialized sophisticated IGT systems In meetings between IGT investigators over the last two years, a consensus has emerged that several key areas must be addressed collaboratively by the community to reach the next level of impact, efficiency in IGT research, development to improve patient care These meetings culminated in a two-day workshop that brought together several academic, industrial leaders in the field today The goals of the workshop were to identify gaps in the engineering infrastructure available to IGT researchers, develop the role of research funding agencies, the recently established US-based National Center for Image Guided Therapy (NCIGT), and ultimately to facilitate the transfer of technology among research centers that are sponsored by the National Institutes of Health (NIH) Workshop discussions spanned many of the current challenges in the development, deployment of new IGT systems Key challenges were identified in a number of areas, including: validation standards; workflows, use-cases, and application requirements; component reusability;, device interface standards This report elaborates on these key points, proposes research challenges that are to be addressed by a joint effort between academic, industry, and NIH participants

}, keywords = {adverse effects/instrumentation/trends, Algorithms, Computational Biology, Computer Systems, Computer-Assisted, Humans, instrumentation/trends, Knowledge Bases, Models, National Institutes of Health (U S ), Neurosurgical Procedures, Organizational, Outcome Assessment (Health Care), Reproducibility of Results, Robotics, Software, Surgery, Treatment Outcome, United States}, doi = {10 1016/j neuroimage 2007 04 026}, url = {http://dx doi org/10 1016/j neuroimage 2007 04 026}, author = {Simon DiMaio and Tina Kapur and Kevin Cleary and Stephen Aylward and Peter Kazanzides and Kirby Vosburgh and Randy Ellis and James Duncan and Keyvan Farahani and Heinz Lemke and T. M. Peters and William Bill Lorensen and David Gobbi and John Haller and Laurence Larry Clarke and Stephen Pizer and Russell H. Taylor and Robert L. Galloway, Jr. and Gabor Fichtinger and Nobuhiko Hata and Kimberly Lawson and Clare M Tempany and Ron Kikinis and Ferenc Jolesz} } @article {Fischer2007, title = {MRI image overlay: application to arthrography needle insertion}, journal = {Journal of Computer Aided Surgery}, volume = {12}, number = {1}, year = {2007}, month = {Jan}, pages = {2{\textendash}14}, publisher = {Engineering Research Center, Johns Hopkins University, Baltimore, Maryland, USA gfisch@jhu edu}, abstract = {

Magnetic Resonance Imaging (MRI) offers great potential for planning, guiding, monitoring, controlling interventions MR arthrography (MRAr) is the imaging gold standard for assessing small ligament, fibrocartilage injury in joints In contemporary practice, MRAr consists of two consecutive sessions: (1) an interventional session where a needle is driven to the joint space, MR contrast is injected under fluoroscopy or CT guidance;, (2) a diagnostic MRI imaging session to visualize the distribution of contrast inside the joint space, evaluate the condition of the joint Our approach to MRAr is to eliminate the separate radiologically guided needle insertion, contrast injection procedure by performing those tasks on conventional high-field closed MRI scanners We propose a 2D augmented reality image overlay device to guide needle insertion procedures This approach makes diagnostic high-field magnets available for interventions without a complex, expensive engineering entourage In preclinical trials, needle insertions have been performed in the joints of porcine, human cadavers using MR image overlay guidance; in all cases, insertions successfully reached the joint space on the first attempt

}, keywords = {Arthrography, Cartilage, Contrast Media, diagnosis, Humans, injuries, instrumentation, Joint Diseases, Ligaments, Magnetic Resonance Imaging, Needles}, doi = {10 1080/10929080601169930}, url = {http://dx doi org/10 1080/10929080601169930}, author = {Gregory Fischer and Anton Degeut and Csaba Csoma and Russell H. Taylor and Laura Fayad and John A Carrino and James Zinreich and Gabor Fichtinger} } @conference {Foroughi2007, title = {P6D-2 Ultrasound Bone Segmentation Using Dynamic Programming}, booktitle = {Procedings IEEE Ultrasonics Symposium}, year = {2007}, month = {28{\textendash}31 Oct}, pages = {2523{\textendash}2526}, doi = {10 1109/ULTSYM 2007 635}, author = {Pezhman Foroughi and Emad Boctor and Michael Swartz and Russell H. Taylor and Gabor Fichtinger} } @conference {Xu2006, title = {CT fluoroscopy-guided robotically-assisted lung biopsy}, booktitle = {Medical Imaging 2006: Visualization, Image-Guided Procedures, and Display}, volume = {6141}, number = {1}, year = {2006}, pages = {61411L}, publisher = {SPIE}, organization = {SPIE}, doi = {10 1117/12 652882}, url = {http://link aip org/link/?PSI/6141/61411L/1}, author = {Sheng Xu and Gabor Fichtinger and Russell H. Taylor and Filip Banovac and Kevin Cleary}, editor = {Kevin Cleary and Robert L. Galloway, Jr.} } @conference {Fischer2006h, title = {Image Overlay for MR-Guided Joint Arthrography}, booktitle = {6th Interventional MRI Symposium}, year = {2006}, pages = {240-242}, author = {Gregory Fischer and Anton Degeut and Csaba Csoma and Russell H. Taylor and Laura Fayad and John A Carrino and James Zinreich and Gabor Fichtinger} } @article {Xu2006a, title = {Lung deformation estimation and four-dimensional CT lung reconstruction}, journal = {Journal of Academic Radiology}, volume = {13}, number = {9}, year = {2006}, month = {Sep}, pages = {1082{\textendash}1092}, publisher = {Philips Research North America, 345 Scarborough Road, Briarcliff Manor, NY 10510, USA sheng xu@philips com}, abstract = {

RATIONALE AND OBJECTIVES: Four-dimensional (4D) computed tomography (CT) can be used in radiation treatment planning to account for respiratory motion Current 4D CT techniques have limitations in either spatial or temporal resolution In addition, most of these techniques rely on auxiliary surrogates to relate the time of the CT scan to the patient{\textquoteright}s respiratory phase We propose a 4D CT method for lung applications to overcome these problems MATERIALS AND METHODS: A set of axial scans are taken at multiple table positions to obtain a series of two-dimensional images while the patient is breathing freely Each two-dimensional image is registered to a reference CT volume The deformation of the image with respect to the volume is used to synchronize the image with the respiratory cycle assuming that there is no phase variation along the craniocaudal direction The reconstructed 4D dataset is a series of deformable transformations of the reference volume RESULTS: A synthetic 4D dataset showed that the registration error is less than 5\% of the image deformation A swine study showed that the algorithm can generate better image quality than the image sorting method A respiratory-gated 4D dataset showed that the algorithm{\textquoteright}s result is consistent with the ground truth CONCLUSION: The algorithm can reconstruct good quality 4D images without external surrogates even if the CT scans are acquired under irregular respiratory motion The algorithm may allow for reduced radiation dose to the patient with a limited loss of image quality Although the phase variation exists along the craniocaudal direction, the 4D reconstruction is reasonably accurate

}, keywords = {Algorithms, Artifacts, Computer-Assisted, Humans, Imaging, Information Storage, Lung, methods, Movement, Phantoms, Radiographic Image Enhancement, Radiographic Image Interpretation, Radiography, Reproducibility of Results, Respiratory Mechanics, Retrieval, Sensitivity, Specificity, Three-Dimensional, Tomography, X-Ray Computed}, doi = {10 1016/j acra 2006 05 004}, url = {http://dx doi org/10 1016/j acra 2006 05 004}, author = {Sheng Xu and Russell H. Taylor and Gabor Fichtinger and Kevin Cleary} } @conference {Fischer2006i, title = {MRI Image Overlay: Application to Arthrography Needle Insertion}, booktitle = {AMI-ARCS workshop to the 9th MICCAI Conference}, year = {2006}, author = {Gregory Fischer and Anton Degeut and Csaba Csoma and Russell H. Taylor and Laura Fayad and John A Carrino and James Zinreich and Gabor Fichtinger} } @article {Fischer2006, title = {MRI image overlay: applications to arthrography needle insertion}, journal = {Studies in health technology and informatics}, volume = {119}, year = {2006}, pages = {150{\textendash}155}, abstract = {

Magnetic Resonance Imaging (MRI) has unmatched potential for planning, guiding, monitoring, controlling interventions MR arthrography (MRA) is the imaging gold standard to assess small ligament, fibrocartilage injury in joints In contemporary practice, MRA consists of two consecutive sessions: 1) an interventional session where a needle is driven to the joint space, gadolinium contrast is injected under fluoroscopy or CT guidance 2) A diagnostic MRI imaging session to visualize the distribution of contrast inside the joint space, evaluate the condition of the joint Our approach to MRA is to eliminate the separate radiologically guided needle insertion, contrast injection procedure by performing those tasks on conventional high-field closed MRI scanners We propose a 2D augmented reality image overlay device to guide needle insertion procedures This approach makes diagnostic high-field magnets available for interventions without a complex, expensive engineering entourage

}, keywords = {Arthrography, Humans, Magnetic Resonance Imaging, Needles, United States, User-Computer Interface}, author = {Gregory Fischer and Anton Degeut and Daniel Schlattman and Russell H. Taylor and Laura Fayad and James Zinreich and Gabor Fichtinger} } @conference {Fischer2006e, title = {MRI Image Overlay: Joint Arthrography Porcine Trials}, booktitle = {International Society for Magnetic Resonance in Medicine 14th Scientific Meeting - ISMRM}, year = {2006}, pages = {1735}, author = {Gregory Fischer and Anton Degeut and Csaba Csoma and Russell H. Taylor and Laura Fayad and James Zinreich and Gabor Fichtinger} } @conference {Fischer2006a, title = {Musculoskeletal Needle Placement with MRI Image Overlay Guidance}, booktitle = {Annual Meeting of the International Society for Computer Assisted Orthopedic Surgery}, year = {2006}, pages = {158-160}, author = {Gregory Fischer and Anton Degeut and Laura Fayad and James Zinreich and Russell H. Taylor and Gabor Fichtinger} } @conference {Kazanzides2006a, title = {System Architecture and Toolkits for Image-Guided Intervention Systems}, booktitle = {Medicine Meets Virtual Reality 14}, year = {2006}, author = {Peter Kazanzides and Simon DiMaio and Kevin Cleary and Gabor Fichtinger and Russell H. Taylor} } @article {Boctor2006b, title = {Ultrasound monitoring of tissue ablation via deformation model and shape priors}, journal = {Medical image computing and computer-assisted intervention (MICCAI)}, volume = {9}, number = {Pt 2}, year = {2006}, pages = {405{\textendash}412}, abstract = {

A rapid approach to monitor ablative therapy through optimizing shape, elasticity parameters is introduced Our motivating clinical application is targeting, intraoperative monitoring of hepatic tumor thermal ablation, but the method translates to the generic problem of encapsulated stiff masses (solid organs, tumors, ablated lesions, etc ) in ultrasound imaging The approach involves the integration of the following components: a biomechanical computational model of the tissue, a correlation approach to estimate/track tissue deformation, and an optimization method to solve the inverse problem, recover the shape parameters in the volume of interest Successful convergence, reliability studies were conducted on simulated data Then ex-vivo studies were performed on 18 ex-vivo bovine liver samples previously ablated under ultrasound monitoring in controlled laboratory environment While B-mode ultrasound does not clearly identify the development of necrotic lesions, the proposed technique can potentially segment the ablation zone The same framework can also yield both partial, full elasticity reconstruction

}, keywords = {Algorithms, Animals, Automated, Biological, Cattle, Computer-Assisted, Elasticity, Hepatectomy, Image Enhancement, Image Interpretation, Imaging, Interventional, Liver, Mechanical, methods, Models, Pattern Recognition, physiology/surgery/ultrasonography, Reproducibility of Results, Sensitivity, Specificity, Statistical, Stress, Subtraction Technique, Surgery, Three-Dimensional, Ultrasonography}, author = {Emad Boctor and Michelle de Oliveira and Michael Choti and Roger Ghanem and Russell H. Taylor and Gregory D. Hager and Gabor Fichtinger} } @conference {Kon2005, title = {CIS-UltraCal: an open-source ultrasound calibration toolkit}, booktitle = {Medical Imaging 2005: Ultrasonic Imaging and Signal Processing}, volume = {5750}, number = {1}, year = {2005}, pages = {516-523}, publisher = {SPIE}, organization = {SPIE}, doi = {10 1117/12 596929}, url = {http://link aip org/link/?PSI/5750/516/1}, author = {Ryan Kon and Joshua Leven and Kishore Kothapalli and Emad Boctor and Gabor Fichtinger and Gregory D. Hager and Russell H. Taylor} } @conference {DeOliveira2005, title = {Image Overlay for CT-Guided Hepatic Needle Insertions - Cadaver Studies}, booktitle = {Annual congress of the Society of American Gastrointestinal Endoscopic Surgeons}, year = {2005}, pages = {pp 243-244}, author = {Michelle de Oliveira and Anton Degeut and Gregory Fischer and Emese Balogh and Russell H. Taylor and Laura Fayad and James Zinreich and Gabor Fichtinger} } @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 = {

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

}, 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} } @article {Fichtinger2005a, title = {Image overlay guidance for needle insertion in CT scanner}, journal = {IEEE transactions on biomedical engineering}, volume = {52}, number = {8}, year = {2005}, month = {Aug}, pages = {1415{\textendash}1424}, doi = {10 1109/TBME 2005 851493}, author = {Gabor Fichtinger and Anton Degeut and Ken Masamune and Emese Balogh and Gregory Fischer and Herve Mathieu and Russell H. Taylor and James Zinreich and Laura Fayad} } @article {Xu2005b, title = {Lung deformation estimation and four-dimensional CT lung reconstruction}, journal = {Medical image computing and computer-assisted intervention (MICCAI)}, volume = {8}, number = {Pt 2}, year = {2005}, pages = {312{\textendash}319}, abstract = {

Four-dimensional (4D) computed tomography (CT) image acquisition is a useful technique in radiation treatment planning, interventional radiology in that it can account for respiratory motion of lungs Current 4D lung reconstruction techniques have limitations in either spatial or temporal resolution In addition, most of these techniques rely on auxiliary surrogates to relate the time of CT scan to the patient{\textquoteright}s respiratory phase In this paper, we propose a novel 4D CT lung reconstruction, deformation estimation algorithm Our algorithm is purely image based The algorithm can reconstruct high quality 4D images even if the original images are acquired under irregular respiratory motion The algorithm is validated using synthetic 4D lung data Experimental results from a swine study data are also presented

}, keywords = {Algorithms, Animals, Artificial Intelligence, Biological, Computer Simulation, Computer-Assisted, Elasticity, Humans, Imaging, Lung, methods, Models, physiology/radiography, Radiographic Image Enhancement, Radiographic Image Interpretation, Reproducibility of Results, Respiratory Mechanics, Sensitivity, Specificity, Swine, Three-Dimensional, Tomography, X-Ray Computed}, author = {Sheng Xu and Russell H. Taylor and Gabor Fichtinger and Kevin Cleary} } @article {Cleary2005, title = {Precision placement of instruments for minimally invasive procedures using a "needle driver" robot}, journal = {international journal of medical robotics computer assisted surgery MRCAS}, volume = {1}, number = {2}, year = {2005}, month = {Jan}, pages = {40{\textendash}47}, abstract = {

Medical practice continues to move toward less invasive procedures Many of these procedures require the precision placement of a needle in the anatomy Over the past several years, our research team has been investigating the use of a robotic needle driver to assist the physician in this task This paper summarizes our work in this area The robotic system is briefly described, followed by a description of a clinical trial in spinal nerve blockade The robot was used under joystick control to place a 22 gauge needle in the spines of 10 patients using fluoroscopic imaging The results were equivalent to the current manual procedure We next describe our follow-up clinical application in lung biopsy for lung cancer screening under CT fluoroscopy The system concept is discussed, the results of a phantom study are presented A start-up company named ImageGuide has recently been formed to commercialize the robot Their revised robot design is presented, along with plans to install a ceiling-mounted version of the robot in the CT fluoroscopy suite at Georgetown University

}, keywords = {Biopsy, Cadaver, Equipment Design, Fluoroscopy, Humans, Imaging, instrumentation, instrumentation/methods, Lung, Lung Neoplasms, methods, Minimally Invasive, Needles, Nerve Block, pathology, pathology/radiography, Phantoms, Randomized Controlled Trials as Topic, Robotics, Spinal Nerves, Surgical Procedures, Tomography, X-Ray Computed}, doi = {10 1002/rcs 40}, url = {http://dx doi org/10 1002/rcs 40}, author = {Kevin Cleary and Vance Watson and David Lindisch and Russell H. Taylor and Gabor Fichtinger and Sheng Xu and Charles White and John Donlon and Michael Taylor and Alexandru Patriciu and Dumitru Mazilu and Dan Stoianovici} } @conference {DeOliveira2005a, title = {Robot-assisted 3D strain imaging for monitoring thermal ablation of liver}, booktitle = {Annual congress of the Society of American Gastrointestinal Endoscopic Surgeons}, year = {2005}, pages = {240-241}, author = {Michelle de Oliveira and Emad Boctor and Michael Awad and Russell H. Taylor and Gabor Fichtinger and Michael Choti} } @conference {Xu2005, title = {Validation of 3D motion tracking of pulmonary lesions using CT fluoroscopy images for robotically assisted lung biopsy}, booktitle = {Medical Imaging 2005: Visualization, Image-Guided Procedures, and Display}, volume = {5744}, number = {1}, year = {2005}, pages = {60-68}, publisher = {SPIE}, organization = {SPIE}, doi = {10 1117/12 594910}, url = {http://link aip org/link/?PSI/5744/60/1}, author = {Sheng Xu and Gabor Fichtinger and Russell H. Taylor and Kevin Cleary}, editor = {Robert L. Galloway, Jr. and Kevin Cleary} } @conference {Xu2004, title = {3D motion tracking of pulmonary lesions using CT fluoroscopy images for robotically assisted lung biopsy}, booktitle = {Medical Imaging 2004: Visualization, Image-Guided Procedures, and Display}, volume = {5367}, number = {1}, year = {2004}, pages = {394-402}, publisher = {SPIE}, organization = {SPIE}, doi = {10 1117/12 534056}, url = {http://link aip org/link/?PSI/5367/394/1}, author = {Sheng Xu and Gabor Fichtinger and Russell H. Taylor and Kevin Cleary}, editor = {Robert L. Galloway, Jr.} } @conference {Boctor2004a, title = {CISUS: an integrated 3D ultrasound system for IGT using a modular tracking API}, booktitle = {Medical Imaging 2004: Visualization, Image-Guided Procedures, and Display}, volume = {5367}, number = {1}, year = {2004}, pages = {247-256}, publisher = {SPIE}, organization = {SPIE}, doi = {10 1117/12 537776}, url = {http://link aip org/link/?PSI/5367/247/1}, author = {Emad Boctor and Anand Viswanathan and Steve Pieper and Michael Choti and Russell H. Taylor and Ron Kikinis and Gabor Fichtinger}, editor = {Robert L. Galloway, Jr.} } @conference {Li2004, title = {Design of an image-guided robot system for measurement, biopsy and injection in rodents}, booktitle = {Procedings IEEE 30th Annual Northeast Bioengineering Conference}, year = {2004}, month = {17{\textendash}18 April}, pages = {39{\textendash}40}, doi = {10 1109/NEBC 2004 1299982}, author = {Jack Li and Peter Kazanzides and Russell H. Taylor and Clifton Ling and Gabor Fichtinger} } @conference {Boctor2004f, title = {Development of a Robotically-Assisted 3-D Ultrasound System for Radiofrequency Ablation of Liver Tumors}, booktitle = {6th World Congress of the Hepato-Pancreato-Biliary Association (IHPBA)}, year = {2004}, author = {Emad Boctor and Michael Awad and Gabor Fichtinger and Russell H. Taylor and Michael Choti} } @conference {Boctor2004c, title = {A dual-armed robotic system for intraoperative ultrasound guided hepatic ablative therapy: a prospective study}, booktitle = {Procedings IEEE International Conference on Robotics and Automation ICRA {\textquoteright}04}, volume = {3}, year = {2004}, month = {Apr 26{\textendash}May 1,}, pages = {2517{\textendash}2522}, doi = {10 1109/ROBOT 2004 1307440}, author = {Emad Boctor and Gregory Fischer and Michael Choti and Gabor Fichtinger and Russell H. Taylor} } @article {Viswanathan2004, title = {Immediate Ultrasound Calibration from Three Poses and Minimal Image Processing}, journal = {Proceedings in Lecture Notes in Computer Science Medical Image Computing and Computer-Assisted Intervention (MICCAI)}, volume = {3217}, year = {2004}, pages = {446-454}, author = {Anand Viswanathan and Emad Boctor and Russell H. Taylor and Gregory D. Hager and Gabor Fichtinger} } @article {Fichtinger2004, title = {Needle Insertion in CT Scanner with Image Overlay - Cadaver Studies}, journal = {Proceedings in Lecture Notes in Computer Science Medical Image Computing and Computer-Assisted Intervention (MICCAI)}, volume = {3217}, year = {2004}, pages = {795-803}, author = {Gabor Fichtinger and Anton Degeut and Ken Masamune and Gregory Fischer and Emese Balogh and Herve Mathieu and Russell H. Taylor and Laura Fayad and James Zinreich} } @conference {Boctor2004, title = {A novel closed form solution for ultrasound calibration}, booktitle = {Procedings IEEE International Symposium on Biomedical Imaging: Nano to Macro}, year = {2004}, month = {15{\textendash}18 April}, pages = {527{\textendash}530}, doi = {10 1109/ISBI 2004 1398591}, author = {Emad Boctor and Anand Viswanathan and Michael Choti and Russell H. Taylor and Gabor Fichtinger and Gregory D. Hager} } @article {Boctor2004b, title = {Robotic Strain Imaging for Monitoring Thermal Ablation of Liver Tumors}, journal = {Proceedings in Lecture Notes in Computer Science}, volume = {3217}, year = {2004}, pages = {81-88}, author = {Emad Boctor and Gabor Fichtinger and Ambert Yeung and Michael Awad and Russell H. Taylor and Michael Choti} } @conference {Boctor2004e, title = {Robotically assisted ablative treatment guided by freehand 3D ultrasound}, booktitle = {Conference of Computer Assisted Radiology and Surgery (CARS)}, year = {2004}, pages = {503-508}, author = {Emad Boctor and Robert Webster and Michael Choti and Russell H. Taylor and Gabor Fichtinger} } @conference {Masamune2003, title = {An Enhanced Reality System for Percutaneous needle placement Therapy inside X-ray CT Scanner}, booktitle = {ARCS - Workshop on Augmented Reality in Computer Aided Surgery}, year = {2003}, pages = {83}, author = {Ken Masamune and Anton Degeut and Herve Mathieu and James Zinreich and Russell H. Taylor and Frank Sauer and Gabor Fichtinger} } @conference {Boctor2003, title = {Rapid calibration method for registration and 3D tracking of ultrasound images using spatial localizer}, booktitle = {Medical Imaging 2003: Ultrasonic Imaging and Signal Processing}, volume = {5035}, number = {1}, year = {2003}, pages = {521-532}, publisher = {SPIE}, organization = {SPIE}, doi = {10 1117/12 479953}, url = {http://link aip org/link/?PSI/5035/521/1}, author = {Emad Boctor and Ameet K. Jain and Michael Choti and Russell H. Taylor and Gabor Fichtinger} } @conference {Boctor2003c, title = {Robotically assisted intraoperative ultrasound with application to ablative therapy of liver cancer}, booktitle = {Medical Imaging 2003: Visualization, Image-Guided Procedures, and Display}, volume = {5029}, number = {1}, year = {2003}, pages = {281-291}, publisher = {SPIE}, organization = {SPIE}, doi = {10 1117/12 480338}, url = {http://link aip org/link/?PSI/5029/281/1}, author = {Emad Boctor and Russell H. Taylor and Gabor Fichtinger and Michael Choti}, editor = {Robert L. Galloway, Jr.} } @conference {Boctor2003a, title = {Tracked 3D ultrasound in radio-frequency liver ablation}, booktitle = {Medical Imaging 2003: Ultrasonic Imaging and Signal Processing}, volume = {5035}, number = {1}, year = {2003}, pages = {174-182}, publisher = {SPIE}, organization = {SPIE}, doi = {10 1117/12 479952}, url = {http://link aip org/link/?PSI/5035/174/1}, author = {Emad Boctor and Gabor Fichtinger and Russell H. Taylor and Michael Choti}, editor = {William F. Walker and Michael F. Insana} } @article {Masamune2002, title = {An Image Overlay System with Enhanced Reality for Percutaneous Therapy Performed Inside CT Scanner}, journal = {Lecture Notes in Computer Science Medical Image Computing and Computer-Assisted Intervention (MICCAI)}, volume = {2489}, year = {2002}, pages = {77-84}, author = {Ken Masamune and Gabor Fichtinger and Anton Degeut and Daisuke Matsuka and Russell H. Taylor} } @article {Fichtinger2002, title = {Robotically Assisted Prostate Biopsy And Therapy With Intra-Operative CT Guidance}, journal = {Journal of Academic Radiology}, volume = {9 no 1}, year = {2002}, pages = {60-74}, author = {Gabor Fichtinger and Theodore DeWeese and Alexandru Patriciu and Attila Tanacs and Dumitru Mazilu and James Anderson and Ken Masamune and Russell H. Taylor and Dan Stoianovici} } @conference {Fichtinger2001b, title = {Robotically Assisted Percutaneous Local Therapy and Biopsy}, booktitle = {Workshop proceedings of the Tenth IEEE International Conference of Advance Robotics}, year = {2001}, pages = {133-151}, author = {Gabor Fichtinger and Ken Masamune and Alexandru Patriciu and Attila Tanacs and James Anderson and Theodore DeWeese and Russell H. Taylor and Dan Stoianovici} } @conference {Fichtinger2001, title = {The surgical CAD/CAM paradigm and an implementation for robotically-assisted percutaneous local therapy}, booktitle = {Procedings AIPR 2001 30th Applied Imagery Pattern Recognition Workshop}, year = {2001}, month = {10{\textendash}12 Oct}, pages = {3{\textendash}8}, doi = {10 1109/AIPR 2001 991195}, author = {Gabor Fichtinger and Dan Stoianovici and Russell H. Taylor} } @article {Masamune2001, title = {System for robotically assisted percutaneous procedures with computed tomography guidance}, journal = {Journal of Computer Aided Surgery}, volume = {6}, number = {6}, year = {2001}, pages = {370{\textendash}383}, abstract = {

We present the prototype of an image-guided robotic system for accurate, consistent placement of percutaneous needles in soft-tissue targets under CT guidance inside the gantry of a CT scanner The couch-mounted system consists of a seven-degrees-of-freedom passive mounting arm, a remote center-of-motion robot, and a motorized needle-insertion device Single-image-based coregistration of the robot, image space is achieved by stereotactic localization using a miniature version of the BRW head frame built into the radiolucent needle driver The surgeon plans, controls the intervention in the scanner room on a desktop computer that receives DICOM images from the scanner The system does not need calibration, employs pure image-based registration, and does not utilize any vendor-specific hardware or software features In the open air, where there is no needle-tissue interaction, we systematically achieved an accuracy better than 1 mm in hitting targets at 5-8 cm from the fulcrum point In the phantom, the orientation accuracy was 0 6 degrees, and the distance between the needle tip, the target was 1 04 mm Experiments indicated that this robotic system is suitable for a variety of percutaneous clinical applications

}, keywords = {Biopsy, Computer-Assisted, Humans, Image Processing, Imaging, instrumentation, instrumentation/methods, Needle, Phantoms, Robotics, Surgery, Tomography, User-Computer Interface, X-Ray Computed}, doi = {10 1002/igs 10024}, url = {http://dx doi org/10 1002/igs 10024}, author = {Ken Masamune and Gabor Fichtinger and Alexandru Patriciu and Robert Susil and Russell H. Taylor and Louis Kavoussi and James Anderson and Ichiro Sakuma and Takeyoshi Dohi and Dan Stoianovici} } @conference {Patriciu2000, title = {CT-Guided Robotic Prostate Biopsy}, booktitle = {18th World Congress on Endourology \& SWL}, year = {2000}, author = {Alexandru Patriciu and Dumitru Mazilu and Dan Stoianovici and Alexandru Stanimir and Robert Susil and Ken Masamune and Gabor Fichtinger and Russell H. Taylor and James Anderson and Louis Kavoussi} } @article {Taylor2000, title = {Medical Robotics and Computer-Integrated Surgery: Information-driven Systems for 21st Century Operating Rooms}, journal = {Journal of Japan Society of Computer Aided Surgery}, volume = {2 No 2}, year = {2000}, pages = {47-53}, author = {Russell H. Taylor and Gabor Fichtinger and Patrick Jensen and Cameron Riviere} }