@article {Tokuda2012, title = {Preclinical evaluation of an MRI-compatible pneumatic robot for angulated needle placement in transperineal prostate interventions}, journal = {International Journal of Computer Assisted Radiology and Surgery (IJCARS)}, year = {2012}, abstract = {

Purpose. To support transperineal prostate biopsies in a closed-bore magnetic resonance imaging (MRI) scanner, we developed a small profile MRI-compatible pneumatic needle placement robot that can angulate a needle insertion path into a large accessible target volume. We performed a preclinical evaluation of the robot{\textquoteright}s targeting accuracy with angulated needle insertion in a 3 Tesla clinical MRI. Methods. Angulation of the needle insertion path is achieved by a four degrees-of-freedom (4-DOF) mechanism with two parallel triangular structures. The robot is integrated with navigation software that allows an operator to plan angulated needle insertion by selecting a target and an entry point. The targeting error was evaluated while the angle between the needle insertion path and the static magnetic field was between -5.7{\textdegree} and 5.7{\textdegree} horizontally and between -5.7{\textdegree} and 4.3{\textdegree} vertically in the MRI scanner after sterilizing and draping the device. Results. The needle placement robot successfully positioned the needle with angulated insertion as specified on the navigation software. The overall targeting error was 0.8 {\textpm} 0.5 mm along the horizontal axis and 0.8 {\textpm} 0.8 mm along the vertical axis. The two-dimensional root-mean-square targeting error on the axial slices as containing the targets was 1.4 mm. Conclusions. Our preclinical evaluation demonstrated that the MRI-compatible pneumatic needle placement robot with the 4-DOF parallel kinematic structure with the capability to angulate the needle insertion path provides sufficient targeting accuracy for clinical MRI-guided prostate interventions.

}, keywords = {Biopsy, Brachytherapy, medical robotics, MRI-guided therapy, prostate cancer}, doi = {10.1007/s11548-012-0750-1}, url = {http://www.springerlink.com/content/tl77lrh211608j70/}, author = {Junichi Tokuda and Sam Sang-Eun Song and Gregory Fischer and Iulian Iordachita and Reza Seifabadi and Nathan Bongjoon Cho and Kemal Tuncali and Gabor Fichtinger and Clare M Tempany and Nobuhiko Hata} } @article {Tokuda2012a, title = {Preclinical evaluation of MRI-compatible pneumatic robot for angulated needle placement in prostate interventions}, year = {2012}, month = {2012}, address = {Pisa, Italy}, keywords = {angulation, MRI compatiber robot, transprineal}, author = {Junichi Tokuda and Sam Sang-Eun Song and Gregory Fischer and Iulian Iordachita and Reza Seifabadi and Nathan Bongjoon Cho and Gabor Fichtinger and Clare M Tempany and Nobuhiko Hata} } @article {Weiss2009, title = {Augmented Reality Visualization for MR-guided Interventions using "Image Overlay": System Description, Feasibility, and Initial Evaluation in a spine phantom}, journal = {American Journal of Roentgenology}, volume = {196}, number = {3}, year = {2011}, month = {03/2011}, pages = {W305 - W307}, author = {Clifford Weiss and David R.Marker and Gregory Fischer and Gabor Fichtinger and Antonio J. Machado and John A Carrino} } @conference {Song2010, title = {Development of a Pneumatic Robot for MRI-guided Transperineal Prostate Biopsy and Brachytherapy: New Approaches}, booktitle = {IEEE International Conference on Robotics and Automation, ICRA 2010}, year = {2010}, pages = {2580-2585}, address = {Anchorage, Alaska, USA, 3-7 May 2010}, doi = {http://dx.doi.org/10.1109/ROBOT.2010.5509710}, author = {Sam Sang-Eun Song and Nathan Bongjoon Cho and Gregory Fischer and Nobuhiko Hata and Clare M Tempany and Gabor Fichtinger and Iulian Iordachita} } @article {Song2010b, title = {Development of a Pneumatic Robot for MRI-Guided Transperineal Prostate Intervention}, year = {2010}, address = {Stockholm, Sweden, 1-7 May 2010}, author = {Sam Sang-Eun Song and Nathan Bongjoon Cho and Iulian Iordachita and Gregory Fischer and Junichi Tokuda and Nobuhiko Hata and Gabor Fichtinger and Clare M Tempany} } @conference {Tokuda2009, title = {OpenIGTLink: An Open Network Protocol for Image Guided Therapy Environment}, booktitle = {International Journal of Medical Robotics and Computer Assisted Surgery}, volume = {na}, year = {2009}, pages = {na}, author = {Junichi Tokuda and Luis Ibanez and Gregory Fischer and Patrick Cheng and Haiying Liu and Jack Blevins and Jumpei Arata and Xenophon Papademetris and Ziv Yaniv and Tina Kapur and Steve Pieper and E. Clif Burdette and Gabor Fichtinger and Clare M Tempany and Nobuhiko Hata} } @conference {U-Thainual2009a, title = {The Perk Station: Systems design for percutaneous intervention training suite}, booktitle = {Procedings IEEE International Conference on Robotics and Biomimetics ROBIO 2009}, year = {2009}, month = {22{\textendash}25 Feb}, pages = {1693{\textendash}1697}, address = {Bangkok, Thailand}, doi = {10 1109/ROBIO 2009 4913256}, author = {Paweena U-Thainual and Gregory Fischer and Iulian Iordachita and Siddharth Vikal and Gabor Fichtinger} } @article {Vikal2009a, title = {Perk Station-Percutaneous surgery training and performance measurement platform}, journal = {Computerized Medical Imaging and Graphics}, volume = {34}, year = {2009}, month = {05/2009}, pages = {19-32}, abstract = {

MOTIVATION: Image-guided percutaneous (through the skin) needle-based surgery has become part of routine clinical practice in performing procedures such as biopsies, injections, therapeutic implants A novice physician typically performs needle interventions under the supervision of a senior physician; a slow, inherently subjective training process that lacks objective, quantitative assessment of the surgical skill, performance Shortening the learning curve, increasing procedural consistency are important factors in assuring high-quality medical care METHODS: This paper describes a laboratory validation system, called Perk Station, for standardized training, performance measurement under different assistance techniques for needle-based surgical guidance systems The initial goal of the Perk Station is to assess, compare different techniques: 2D image overlay, biplane laser guide, laser protractor, conventional freehand The main focus of this manuscript is the planning, guidance software system developed on the 3D Slicer platform, a free, open source software package designed for visualization, analysis of medical image data RESULTS: The prototype Perk Station has been successfully developed, the associated needle insertion phantoms were built, and the graphical user interface was fully implemented The system was inaugurated in undergraduate teaching, a wide array of outreach activities Initial results, experiences, ongoing activities, future plans are reported

}, doi = {10.1016/j.compmedimag.2009.05.001}, url = {http://dx.doi.org/10.1016/j.compmedimag.2009.05.001}, author = {Siddharth Vikal and Paweena U-Thainual and John A Carrino and Iulian Iordachita and Gregory Fischer and Gabor Fichtinger} } @conference {Mewes2008, title = {Integrated system for robot-assisted in prostate biopsy in closed MRI scanner}, booktitle = {Procedings IEEE International Conference on Robotics and Automation ICRA 2008}, year = {2008}, month = {19{\textendash}23 May}, pages = {2959{\textendash}2962}, doi = {10 1109/ROBOT 2008 4543659}, author = {Philip Mewes and Junichi Tokuda and Simon DiMaio and Gregory Fischer and Csaba Csoma and David Gobbi and Clare M Tempany and Gabor Fichtinger and Nobuhiko Hata} } @conference {U-Thainual2008, title = {MR/CT Percutaneous Intervention Training Suite}, booktitle = {7th International Symposium on Interventional MRI}, year = {2008}, pages = {81-85}, author = {Paweena U-Thainual and Gregory Fischer and John A Carrino and Gabor Fichtinger and Iulian Iordachita} } @article {Fischer2008, title = {MRI Compatibility of Robot Actuation Techniques - A Comparative Study}, journal = {Medical Image Computing and Computer-Assisted Intervention (MICCAI) Proceedings in Lecture Notes in Computer Science}, volume = {5242}, year = {2008}, pages = {509-517}, author = {Gregory Fischer and Axel Krieger and Iulian Iordachita and Whitcomb, Louis L. and Gabor Fichtinger} } @article {Fischer2008b, title = {MRI-Compatible Pneumatic Robot for Transperineal Prostate Needle Placement}, journal = {IEEE/ASME Transactions on Mechatronics}, volume = {13}, number = {3}, year = {2008}, month = {June}, pages = {295{\textendash}305}, doi = {10 1109/TMECH 2008 924044}, author = {Gregory Fischer and Iulian Iordachita and Csaba Csoma and Junichi Tokuda and Simon DiMaio and Clare M Tempany and Nobuhiko Hata and Gabor Fichtinger} } @conference {Fischer2008a, title = {Pneumatically operated MRI-compatible needle placement robot for prostate interventions}, booktitle = {Procedings IEEE International Conference on Robotics and Automation ICRA 2008}, year = {2008}, month = {19{\textendash}23 May}, pages = {2489{\textendash}2495}, doi = {10 1109/ROBOT 2008 4543587}, author = {Gregory Fischer and Iulian Iordachita and Csaba Csoma and Junichi Tokuda and Philip Mewes and Clare M Tempany and Nobuhiko Hata and Gabor Fichtinger} } @conference {Tokuda2008a, title = {Real-time MR Imaging Controlled by Transperineal Needle Placement Device for MRI-guided Prostate Biopsy}, booktitle = {16th Scientific Meeting and Exhibition of International Society of Magnetic Resonance in Medicine}, year = {2008}, author = {Junichi Tokuda and Simon DiMaio and Gregory Fischer and Csaba Csoma and David Gobbi and Gabor Fichtinger and Nobuhiko Hata and Clare M Tempany} } @article {Tokuda2008, title = {Software strategy for robotic transperineal prostate therapy in closed-bore MRI}, journal = {Medical image computing and computer-assisted intervention (MICCAI)}, volume = {11}, number = {Pt 2}, year = {2008}, pages = {701{\textendash}709}, publisher = {Department of Radiology, Brigham, Women{\textquoteright}s Hospital, Harvard Medical School, 75 Francis St , Boston, MA 02115, USA tokuda@bwh harvard edu}, abstract = {

A software strategy to provide intuitive navigation for MRI-guided robotic transperineal prostate therapy is presented In the system, the robot control unit, the MRI scanner, and open-source navigation software are connected to one another via Ethernet to exchange commands, coordinates, and images Six states of the system called "workphases" are defined based on the clinical scenario to synchronize behaviors of all components The wizard-style user interface allows easy following of the clinical workflow On top of this framework, the software provides features for intuitive needle guidance: interactive target planning; 3D image visualization with current needle position; treatment monitoring through real-time MRI These features are supported by calibration of robot, image coordinates by the fiducial-based registration The performance test shows that the registration error of the system was 2 6 mm in the prostate area, and it displayed real-time 2D image 1 7 s after the completion of image acquisition

}, keywords = {Brachytherapy, Computer-Assisted, Humans, Image Interpretation, Interventional, Magnetic Resonance Imaging, Male, methods, Needles, pathology/radiotherapy, Prostatic Neoplasms, Radiotherapy, Robotics, Software, Software Design}, author = {Junichi Tokuda and Gregory Fischer and Csaba Csoma and Simon DiMaio and David Gobbi and Gabor Fichtinger and Clare M Tempany and Nobuhiko Hata} } @conference {Fischer2008c, title = {A Training Suite for Image Overlay and Other Needle Insertion Techniques}, booktitle = {2008 MICCAI Workshop - Augmented Environments for Medical Imaging and Computer-Aided Surgery (AMI-ARCS)}, year = {2008}, author = {Gregory Fischer and Iulian Iordachita and Paweena U-Thainual and John A Carrino and Gabor Fichtinger} } @article {DiMaio2007, title = {Dynamic MRI scan plane control for passive tracking of instruments and devices}, journal = {Medical image computing and computer-assisted intervention (MICCAI)}, volume = {10}, number = {Pt 2}, year = {2007}, pages = {50{\textendash}58}, publisher = {Brigham, Women{\textquoteright}s Hospital, Harvard Medical School, Boston, MA, USA}, abstract = {

This paper describes a novel image-based method for tracking robotic mechanisms, interventional devices during Magnetic Resonance Image (MRI)-guided procedures It takes advantage of the multi-planar imaging capabilities of MRI to optimally image a set of localizing fiducials for passive motion tracking in the image coordinate frame The imaging system is servoed to adaptively position the scan plane based on automatic detection, localization of fiducial artifacts directly from the acquired image stream This closed-loop control system has been implemented using an open-source software framework, currently operates with GE MRI scanners Accuracy, performance were evaluated in experiments, the results of which are presented here

}, keywords = {Algorithms, Anatomy, Artificial Intelligence, Automated, Computer-Assisted, Cross-Sectional, Humans, Image Enhancement, Image Interpretation, Imaging, instrumentation/methods, Magnetic Resonance Imaging, methods, Pattern Recognition, Phantoms, Reproducibility of Results, Robotics, Sensitivity, Specificity, Surgery, Three-Dimensional, User-Computer Interface}, author = {Simon DiMaio and Eigil Samset and Gregory Fischer and Iulian Iordachita and Gabor Fichtinger and Ferenc Jolesz and Clare M Tempany} } @conference {Fischer2007c, title = {Evaluation of MR Image Overlay for Spinal Interventions}, booktitle = {International Society for Magnetic Resonance in Medicine 15th Scientific Meeting - ISMRM}, year = {2007}, pages = {3394}, author = {Gregory Fischer and Clifford Weiss and Eva Dyer and Csaba Csoma and Anton Degeut and John A Carrino and Gabor Fichtinger} } @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} } @article {Fischer2007b, title = {Robotic assistant for transperineal prostate interventions in 3T closed MRI}, journal = {Medical image computing and computer-assisted intervention (MICCAI)}, volume = {10}, number = {Pt 1}, year = {2007}, pages = {425{\textendash}433}, publisher = {Center for Computer Integrated Surgery, Johns Hopkins University, USA gfischer@jhu edu}, abstract = {

Numerous studies have demonstrated the efficacy of image-guided needle-based therapy, biopsy in the management of prostate cancer The accuracy of traditional prostate interventions performed using transrectal ultrasound (TRUS) is limited by image fidelity, needle template guides, needle deflection, tissue deformation Magnetic Resonance Imaging (MRI) is an ideal modality for guiding, monitoring such interventions due to its excellent visualization of the prostate, its sub-structure, surrounding tissues We have designed a comprehensive robotic assistant system that allows prostate biopsy, brachytherapy procedures to be performed entirely inside a 3T closed MRI scanner We present a detailed design of the robotic manipulator, an evaluation of its usability, MR compatibility

}, keywords = {anatomy /\&/ histology/surgery, Computer-Assisted, Equipment Design, Equipment Failure Analysis, Image Interpretation, instrumentation/methods, Interventional, Magnetic Resonance Imaging, Perineum, Prostatectomy, Robotics, Surgery}, author = {Gregory Fischer and Simon DiMaio and Iulian Iordachita and Gabor Fichtinger} } @article {Fischer2007a, title = {Validation system of MR image overlay and other needle insertion techniques}, journal = {Studies in health technology and informatics}, volume = {125}, year = {2007}, pages = {130{\textendash}135}, publisher = {Engineering Research Center, Johns Hopkins University, Baltimore, MD, USA}, abstract = {

In order to develop accurate, effective augmented reality (AR) systems used in MR, CT guided needle placement procedures, a comparative validation environment is necessary Clinical equipment is prohibitively expensive, often inadequate for precise measurement Therefore, we have developed a laboratory validation system for measuring operator performance using different assistance techniques Electromagnetically tracked needles are registered with the preoperative plan to measure placement accuracy, the insertion path The validation system provides an independent measure of accuracy that can be applied to varying methods of assistance ranging from augmented reality guidance methods to tracked navigation systems, autonomous robots In preliminary studies, this validation system is used to evaluate the performance of the image overlay, bi-plane laser guide, and traditional freehand techniques

}, keywords = {Computer Simulation, Magnetic Resonance Imaging, Needles, Reproducibility of Results, Tomography, United States, X-Ray Computed}, author = {Gregory Fischer and Eva Dyer and Csaba Csoma and Anton Degeut and Gabor Fichtinger} } @conference {DiMaio2006c, title = {Design of a Prostate Needle Placement Robot in MRI Scanner}, booktitle = {IEEE International Conference on Biomedical Robotics}, year = {2006}, author = {Simon DiMaio and Gregory Fischer and Steven Haker and Nobuhiko Hata and Iulian Iordachita and Clare M Tempany and Gabor Fichtinger} } @conference {Fischer2006d, title = {Design of a Robot for Transperineal Prostate Needle Placement in MRI Scanner}, booktitle = {Procedings IEEE International Conference on Mechatronics}, year = {2006}, month = {3{\textendash}5 July}, pages = {592{\textendash}597}, doi = {10 1109/ICMECH 2006 252593}, author = {Gregory Fischer and Iulian Iordachita and Simon DiMaio and Gabor Fichtinger} } @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} } @conference {Fischer2006b, title = {Laser-assisted MRI-guided needle insertion and comparison of techniques}, booktitle = {6th Annual Meeting of the International Society for Computer Assisted Orthopedic Surgery}, year = {2006}, pages = {161-163}, author = {Gregory Fischer and Christina Wamsley and James Zinreich and Gabor Fichtinger} } @conference {Fischer2006c, title = {MRI guided needle insertion - comparison of four techniques}, booktitle = {Annual Scientific Conference of the Society of Interventional Radiology}, year = {2006}, author = {Gregory Fischer and Christina Wamsley and James Zinreich and Gabor Fichtinger} } @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 {Fischer2006f, title = {Robotic Assistant for MR-Guided Prostate Biopsy}, booktitle = {6th Interventional MRI Symposium}, year = {2006}, pages = {243-245}, author = {Gregory Fischer and Simon DiMaio and Iulian Iordachita and Gabor Fichtinger} } @conference {Fischer2006g, title = {Robotic MRI-guided Prostate Needle Placement}, booktitle = {Medical Robotics workshop to the 9th MICCAI Conference}, year = {2006}, author = {Gregory Fischer and Simon DiMaio and Iulian Iordachita and Gabor Fichtinger} } @conference {DiMaio2006a, title = {A System for MRI-guided Prostate Interventions}, booktitle = {Procedings First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics BioRob 2006}, year = {2006}, month = {20{\textendash}22 Feb}, pages = {68{\textendash}73}, doi = {10 1109/BIOROB 2006 1639062}, author = {Simon DiMaio and Gregory Fischer and Maker, S. J. and Nobuhiko Hata and Iulian Iordachita and Clare M Tempany and Ron Kikinis and Gabor Fichtinger} } @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} } @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 {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} }