@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 = {<p>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.</p>
},
	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 {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 = {<p>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</p>
},
	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}
}
