@article {Metaxas2008, title = {11th International Conference, New York, NY, USA, September 6-10, 2008 Proceedings, Part II Preface}, journal = {Medical image computing and computer-assisted intervention (MICCAI)}, volume = {11}, number = {Pt 2}, year = {2008}, pages = {V{\textendash}VIII}, keywords = {Computer-Assisted, Diagnostic Imaging, Image Interpretation, Interventional, Radiography, Surgery}, author = {Dimitris Metaxas and Leon Axel and Gabor Fichtinger and Gabor Szekely} } @article {Rivaz2008b, title = {Ablation monitoring with elastography: 2D in-vivo and 3D ex-vivo studies}, journal = {Medical image computing and computer-assisted intervention (MICCAI)}, volume = {11}, number = {Pt 2}, year = {2008}, pages = {458{\textendash}466}, publisher = {ERC for Computer Integrated Surgery, Johns Hopkins University, USA rivaz@jhu edu}, abstract = {

The clinical feasibility of 2D elastography methods is hindered by the requirement that the operator avoid out-of-plane motion of the ultrasound image during palpation, and also by the lack of volumetric elastography measurements In this paper, we develop, evaluate a 3D elastography method operating on volumetric data acquired from a 3D probe Our method is based on minimizing a cost function using dynamic programming (DP) The cost function incorporates similarity of echo amplitudes, displacement continuity We present, to the best of our knowledge, the first in-vivo patient studies of monitoring liver ablation with freehand DP elastography The thermal lesion was not discernable in the B-mode image but it was clearly visible in the strain image as well as in validation CT We also present 3D strain images from thermal lesions in ex-vivo ablation Good agreement was observed between strain images, CT, gross pathology

}, keywords = {Carcinoma, Catheter Ablation, Computer-Assisted, Elasticity Imaging Techniques, Feasibility Studies, Hepatectomy, Hepatocellular, Humans, Image Interpretation, Imaging, Liver Neoplasms, methods, Surgery, surgery/ultrasonography, Three-Dimensional, Treatment Outcome}, author = {Hassan Rivaz and Ioana Fleming and Lia Assumpcao and Gabor Fichtinger and Ulrike Hamper and Michael Choti and Gregory D. Hager and Emad Boctor} } @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} } @article {Metaxas2008a, title = {Medical image computing and computer-assisted intervention{\textendash}Medical Image Computing and Computer-Assisted Intervention (MICCAI) 2008 Preface}, journal = {Medical image computing and computer-assisted intervention (MICCAI)}, volume = {11}, number = {Pt 1}, year = {2008}, pages = {V{\textendash}VII}, publisher = {Rutgers University, Division of Computer, Information Sciences, Piscataway, NJ 08854-8019, USA}, keywords = {Algorithms, Computer-Assisted, Image Enhancement, Image Interpretation, Interventional, methods, Radiography, Surgery, trends}, author = {Dimitris Metaxas and Leon Axel and Gabor Fichtinger and Gabor Szekely} } @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 {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} } @article {Krupa2007, title = {Real-time tissue tracking with B-mode ultrasound using speckle and visual servoing}, journal = {Tenth International Conference on Medical Image Computing and Computer-Assisted Intervention (MICCAI)}, volume = {10}, number = {Pt 2}, year = {2007}, pages = {1{\textendash}8}, publisher = {IRISA - INRIA Rennes, France alexandre krupa@irisa fr}, abstract = {

We present a method for real-time tracking of moving soft tissue with B-mode ultrasound (US) The method makes use of the speckle information contained in the US images to estimate the in-plane, out-of-plane motion of a fixed target relative to the ultrasound scan plane The motion information is then used as closed-loop feedback to a robot which corrects for the target motion The concept is demonstrated for translation motions in an experimental setup consisting of an ultrasound speckle phantom, a robot for simulating tissue motion, and a robot that performs motion stabilization from US images This concept shows promise for US-guided procedures that require real-time motion tracking, compensation

}, keywords = {Algorithms, Artificial Intelligence, Computer Systems, Computer-Assisted, Equipment Design, Equipment Failure Analysis, Image Enhancement, Image Interpretation, Imaging, instrumentation/methods, Interventional, methods, Pilot Projects, Reproducibility of Results, Robotics, Sensitivity, Specificity, Surgery, Three-Dimensional, Ultrasonography, User-Computer Interface}, author = {Alexandre Krupa and Gabor Fichtinger and Gregory D. Hager} } @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 {Kazanzides2006, title = {Design, validation of an image-guided robot for small animal research}, journal = {Medical image computing and computer-assisted intervention (MICCAI)}, volume = {9}, number = {Pt 1}, year = {2006}, pages = {50{\textendash}57}, publisher = {Department of Computer Science, Johns Hopkins University, USA pkaz@jhu edu}, abstract = {

We developed an image-guided robot system to achieve highly accurate placement of thin needles, probes into in-vivo rodent tumor tissue in a predefined pattern that is specified on a preoperative image This system can be used for many experimental procedures where the goal is to correlate a set of physical measurements with a corresponding set of image intensities or, more generally, to perform a physical action at a set of anatomic points identified on a preoperative image This paper focuses on the design, validation of the robot system, where the first application is to insert oxygen measurement probes in a three-dimensional (3D) grid pattern defined with respect to a PET scan of a tumor The design is compatible with CT, MRI, which we plan to use to identify targets for biopsy, for the injection of adenoviral sequences for gene therapy The validation is performed using a phantom, includes a new method for estimating the Fiducial Localization Error (FLE) based on the measured Fiducial Distance Error (FDE)

}, keywords = {Animals, Biopsy, Computer-Assisted, Equipment Design, Equipment Failure Analysis, Imaging, Injections, instrumentation/methods, instrumentation/methods/veterinary, Needle, Phantoms, Positron-Emission Tomography, Research, Robotics, Surgery}, author = {Peter Kazanzides and Jenghwa Chang and Iulian Iordachita and Jack Li and Clifton Ling and Gabor Fichtinger} } @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} } @article {Krieger2005a, title = {Design of a novel MRI compatible manipulator for image guided prostate interventions}, journal = {IEEE Transactions on Biomedical Engineering}, volume = {52}, number = {2}, year = {2005}, month = {Feb}, pages = {306{\textendash}313}, abstract = {

This paper reports a novel remotely actuated manipulator for access to prostate tissue under magnetic resonance imaging guidance (APT-MRI) device, designed for use in a standard high-field MRI scanner The device provides three-dimensional MRI guided needle placement with millimeter accuracy under physician control Procedures enabled by this device include MRI guided needle biopsy, fiducial marker placements, and therapy delivery Its compact size allows for use in both standard cylindrical, open configuration MRI scanners Preliminary in vivo canine experiments, first clinical trials are reported

}, keywords = {Animals, Biopsy, Computer-Assisted, Dogs, Equipment Design, Equipment Failure Analysis, Feasibility Studies, Imaging, instrumentation/methods, Magnetic Resonance Imaging, Male, Micromanipulation, Needle, pathology/surgery, Prostate, Reproducibility of Results, Robotics, Sensitivity, Specificity, Surgery, Three-Dimensional}, doi = {10 1109/TBME 2004 840497}, url = {http://dx doi org/10 1109/TBME 2004 840497}, author = {Axel Krieger and Robert Susil and Cynthia Menard and Jonathan Coleman and Gabor Fichtinger and Ergin Atalar and Whitcomb, Louis L.} } @article {Boctor2005, title = {Real-time quality control of tracked ultrasound}, journal = {Medical image computing and computer-assisted intervention (MICCAI)}, volume = {8}, number = {Pt 1}, year = {2005}, pages = {621{\textendash}630}, abstract = {

The overwhelming majority of intra-operative hazard situations in tracked ultrasound (US) systems are attributed to failure of registration between tracking, imaging coordinate frames We introduce a novel methodology for eal-time in-vivo quality control of tracked US systems, in order to capture registration failures during the clinical procedure In effect, we dynamically recalibrate the tracked US system for rotation, scale factor, and in-plane position offset up to a scale factor We detect any unexpected change in these parameters through capturing discrepancies in the resulting calibration matrix, thereby assuring quality (accuracy, consistency) of the tracked system No phantom is used for the recalibration We perform the task of quality control in the background, transparently to the clinical user while the subject is being scanned We present the concept, mathematical formulation, and experimental evaluation in-vitro This new method can play an important role in guaranteeing accurate, consistent, and reliable performance of tracked ultrasound

}, keywords = {Algorithms, Computer Systems, Computer-Assisted, Health Care, Humans, Image Enhancement, Image Interpretation, Interventional, methods, Quality Assurance, Quality Control, Reproducibility of Results, Sensitivity, Specificity, Surgery, Ultrasonography, User-Computer Interface}, author = {Emad Boctor and Iulian Iordachita and Gabor Fichtinger and Gregory D. Hager} } @article {Cleary2004, title = {Medical Robotics workshop{\textendash}MRWS}, journal = {Journal of Computer Aided Surgery}, volume = {9}, number = {4}, year = {2004}, pages = {167{\textendash}171}, keywords = {Biomedical Research, Computer-Assisted, Humans, Operative, Robotics, Surgery, Surgical Procedures}, doi = {10 1080/10929080500097695}, url = {http://dx doi org/10 1080/10929080500097695}, author = {Kevin Cleary and Brian Davies and Gabor Fichtinger and Jocelyne Troccaz and Tim Lueth and Vance Watson} } @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 = {

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

}, 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} } @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} }