@article{Connolly2022c,

title = {Bridging 3D Slicer and ROS2 for Image-Guided Robotic Interventions},

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},

doi = {https://doi.org/10.3390/s22145336},

year  = {2022},

date = {2022-07-01},

journal = {Sensors},

volume = {22},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{Xu2013b,

title = {Accuracy analysis in MRI-guided robotic prostate biopsy},

author = {Helen Xu and Andras Lasso and Peter Guion and Axel Krieger and Aradhana Kaushal and Anurag K. Singh and P. A. Pinto and Jonathan Coleman and R. L. Grubb III and Jean-Baptiste Lattouf and Cynthia Menard and Louis L. Whitcomb and Gabor Fichtinger},

doi = {10.1007/s11548-013-0831-9},

year  = {2013},

date = {2013-03-01},

journal = {International Journal of Computer Assisted Radiology and Surgery},

volume = {8},

number = {6},

pages = {937-944},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{Xu2013,

title = {Accuracy analysis in MRI-guided robotic prostate biopsy},

author = {Helen Xu and Andras Lasso and Peter Guion and Axel Krieger and Aradhana Kaushal and Anurag K. Singh and P. A. Pinto and Jonathan Coleman and R. L. Grubb III and Jean-Baptiste Lattouf and Cynthia Menard and Louis L. Whitcomb and Gabor Fichtinger},

year  = {2013},

date = {2013-01-01},

volume = {8},

number = {1},

pages = {211},

publisher = {Springer},

address = {Heidelberg, Germany, June 26-29},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{Krieger2011,

title = {An MRI-Compatible Robotic System with Hybrid Tracking for MRI-Guided Prostate Intervention},

author = {Axel Krieger and Iulian Iordachita and Peter Guion and Anurag K. Singh and Aradhana Kaushal and Cynthia Menard and P. A. Pinto and Kevin Camphausen and Gabor Fichtinger and Louis L. Whitcomb},

url = {https://labs.cs.queensu.ca/perklab/wp-content/uploads/sites/3/2024/02/Krieger2011.pdf},

doi = {10.1109/TBME.2011.2134096},

year  = {2011},

date = {2011-04-01},

urldate = {2011-04-01},

journal = {IEEE Transactions on Biomedical Engineering},

volume = {58 PP},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{Seifabadi2011,

title = {Robotic System for MRI-guided Prostate Biopsy: Feasibility of Teleoperated Needle Insertion and ex vivo Phantom Study},

author = {Reza Seifabadi and Sam Sang-Eun Song and Axel Krieger and Nathan Bongjoon Cho and Junichi Tokuda and Gabor Fichtinger and Iulian Iordachita},

url = {http://www.springerlink.com/content/h53329764x605415/fulltext.pdf

https://labs.cs.queensu.ca/perklab/wp-content/uploads/sites/3/2024/02/Seifabadi2011a.pdf},

doi = {10.1007/s11548-011-0598-9},

year  = {2011},

date = {2011-01-01},

urldate = {2011-01-01},

journal = {International Journal of Computer Aided Radiology and Surgery (IJCARS)},

abstract = {<p>"Purpose": Magnetic Resonance Imaging (MRI) combined with robotic assistance has the potential to improve on clinical outcomes of biopsy and local treatment of prostate cancer. "Methods": We report the workspace optimization and phantom evaluation of a five Degree of Freedom (DOF) parallel pneumatically actuated modular robot for MRI-guided prostate biopsy. To shorten procedure time and consequently increase patient comfort and system accuracy, a prototype of a MRI-compatible master-slave needle driver module using piezo motors was also added to the base robot. "Results": Variable size workspace was achieved using appropriate link length, compared to the previous design. The 5-DOF targeting accuracy demonstrated an average error of 2.5 mm (STD=1.37 mm) in a realistic phantom inside a 3T magnet with a bevel-tip 18G needle. The average position tracking error of the master-slave needle driver was always below 0.1 mm. "Conclusion": Phantom experiments showed sufficient accuracy for manual prostate biopsy. Also, the implementation of teleoperated needle insertion was feasible and accurate. These two together suggest feasibility of accurate fully actuated needle placement into prostate while keeping the clinician supervision over the task.</p>},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{Krieger2011b,

title = {Development and Evaluation of an Actuated MRI-Compatible Robotic System for MRI-Guided Prostate Intervention},

author = {Axel Krieger and Sam Sang-Eun Song and Nathan Bongjoon Cho and Iulian Iordachita and Peter Guion and Gabor Fichtinger and Louis L. Whitcomb},

url = {https://labs.cs.queensu.ca/perklab/wp-content/uploads/sites/3/2024/02/Krieger2011b.pdf},

doi = {10.1109/TMECH.2011.2163523},

issn = {1941-014X},

year  = {2011},

date = {2011-01-01},

urldate = {2011-01-01},

journal = {IEEE/ASME Transactions on Mechatronics},

pages = {PP},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{Fischer2008,

title = {MRI Compatibility of Robot Actuation Techniques - A Comparative Study},

author = {Gregory Fischer and Axel Krieger and Iulian Iordachita and Louis L. Whitcomb and Gabor Fichtinger},

url = {https://labs.cs.queensu.ca/perklab/wp-content/uploads/sites/3/2024/02/Fischer2008c.pdf},

year  = {2008},

date = {2008-01-01},

urldate = {2008-01-01},

journal = {Medical Image Computing and Computer-Assisted Intervention (MICCAI) Proceedings in Lecture Notes in Computer Science},

volume = {5242},

pages = {509-517},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{Krieger2007a,

title = {Design and preliminary accuracy studies of an MRI-guided transrectal prostate intervention system},

author = {Axel Krieger and Csaba Csoma and Iulian Iordachita and Peter Guion and Anurag K. Singh and Gabor Fichtinger and Louis L. Whitcomb},

url = {https://labs.cs.queensu.ca/perklab/wp-content/uploads/sites/3/2024/02/Krieger2007a.pdf},

year  = {2007},

date = {2007-01-01},

urldate = {2007-01-01},

journal = {Medical image computing and computer-assisted intervention (MICCAI)},

volume = {10},

number = {Pt 2},

pages = {59–67},

publisher = {Department of Mechanical Engineering, Johns Hopkins University, Baltimore, USA},

abstract = {<p>This paper reports a novel system for magnetic resonance imaging (MRI) guided transrectal prostate interventions, such as needle biopsy, fiducial marker placement, and therapy delivery The system utilizes a hybrid tracking method, comprised of passive fiducial tracking for initial registration, subsequent incremental motion measurement along the degrees of freedom using fiber-optical encoders, mechanical scales Targeting accuracy of the system is evaluated in prostate phantom experiments Achieved targeting accuracy, procedure times were found to compare favorably with existing systems using passive, active tracking methods Moreover, the portable design of the system using only standard MRI image sequences, minimal custom scanner interfacing allows the system to be easily used on different MRI scanners</p>},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{Singh2007a,

title = {Patient selection determines the prostate cancer yield of dynamic contrast-enhanced magnetic resonance imaging-guided transrectal biopsies in a closed 3-Tesla scanner},

author = {Anurag K. Singh and Axel Krieger and Jean-Baptiste Lattouf and Peter Guion and R. L. Grubb III and Paul Albert and Greg Metzger and Karen Ullman and Sharon Smith and Gabor Fichtinger and Iclal Ocak and Peter Choyke and Cynthia Menard and Jonathan Coleman},

url = {http://dx doi org/10 1111/j 1464-410X 2007 07219 x

https://labs.cs.queensu.ca/perklab/wp-content/uploads/sites/3/2024/02/Singh2007a.pdf},

doi = {10 1111/j 1464-410X 2007 07219 x},

year  = {2007},

date = {2007-01-01},

urldate = {2007-01-01},

journal = {British Journal of Urology international},

volume = {101},

number = {2},

pages = {181–185},

publisher = {Radiation Oncology Branch, National Cancer Institute, National Institutes of Health, Bethesda, MD 20892-1642, USA Anurag Singh@RoswellPark org},

abstract = {<p>OBJECTIVE: To evaluate the cancer yield of transrectal prostate biopsies in a 3-T magnetic resonance imaging (MRI) scanner in patients with elevated prostate specific antigen (PSA) levels, recent negative transrectal ultrasonography (TRUS)-guided prostate biopsies PATIENTS AND METHODS: Between July 2004, November 2005, patients with at least one previous negative prostate biopsy within the previous 12 months had MRI-guided biopsy of the prostate in a 3-T MRI scanner Patients with previous positive biopsies for cancer were excluded Target selection was based on T2-weighted imaging, dynamic contrast-enhanced (DCE) imaging studies RESULTS: Thirteen patients were eligible; their median (range) age was 61 (47-74) years, PSA value 4 90 (1 3-12 3) ng/mL Most patients had one previous negative biopsy (range 1-4) Four patients had a family history of prostate cancer There were 37 distinct targets based on T2-weighted imaging Fifteen of 16 distinct DCE abnormalities were co-localized with a target based on T2-weighted imaging Despite this correlation, only one of 13 patients had a directed biopsy positive for cancer Including systematic biopsies, two of 13 patients had a biopsy positive for prostate cancer One patient had prostate intraepithelial neoplasia, one had atypical glands in the specimen CONCLUSION: The prostate-cancer yield of transrectal biopsies in a 3-T MRI scanner, among patients with recent negative TRUS-guided prostate biopsies, is similar to repeat systematic TRUS-guided biopsy DCE correlates with T2-imaging but does not appear to improve prostate cancer yield in this population</p>},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{Singh2007b,

title = {Simultaneous integrated boost of biopsy proven and MRI defined dominant intra-prostatic lesions to 95 Gray with IMRT: early results of a phase I NCI study},

author = {Anurag K. Singh and Peter Guion and Nancy Sears-Crouse and Karen Ullman and Sharon Smith and Paul Albert and Gabor Fichtinger and Peter Choyke and Sheng Xu and Jochen Kruecker and Bradford Wood and Axel Krieger and Holly Ning},

url = {http://dx doi org/10 1186/1748-717X-2-36

https://labs.cs.queensu.ca/perklab/wp-content/uploads/sites/3/2024/02/Singh2007b.pdf},

doi = {10 1186/1748-717X-2-36},

year  = {2007},

date = {2007-01-01},

urldate = {2007-01-01},

journal = {Radiation Oncology},

volume = {2},

pages = {36},

publisher = {Department of Radiation Medicine, Roswell Park Cancer Institute, Buffalo, USA singhanu@yahoo com},

abstract = {<p>BACKGROUND: To assess the feasibility, early toxicity of selective, IMRT-based dose escalation (simultaneous integrated boost) to biopsy proven dominant intra-prostatic lesions visible on MRI METHODS: Patients with localized prostate cancer, an abnormality within the prostate on endorectal coil MRI were eligible All patients underwent a MRI-guided transrectal biopsy at the location of the MRI abnormality Gold fiducial markers were also placed Several days later patients underwent another MRI scan for fusion with the treatment planning CT scan This fused MRI scan was used to delineate the region of the biopsy proven intra-prostatic lesion A 3 mm expansion was performed on the intra-prostatic lesions, defined as a separate volume within the prostate The lesion + 3 mm, the remainder of the prostate + 7 mm received 94 5/75 6 Gray (Gy) respectively in 42 fractions Daily seed position was verified to be within 3 mm RESULTS: Three patients were treated Follow-up was 18, 6, and 3 months respectively Two patients had a single intra-prostatic lesion One patient had 2 intra-prostatic lesions All four intra-prostatic lesions, with margin, were successfully targeted, treated to 94 5 Gy Two patients experienced acute RTOG grade 2 genitourinary (GU) toxicity One had grade 1 gastrointestinal (GI) toxicity All symptoms completely resolved by 3 months One patient had no acute toxicity CONCLUSION: These early results demonstrate the feasibility of using IMRT for simultaneous integrated boost to biopsy proven dominant intra-prostatic lesions visible on MRI The treatment was well tolerated</p>},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{Chowning2006,

title = {A preliminary analysis and model of prostate injection distributions},

author = {Scott Chowning and Robert Susil and Axel Krieger and Gabor Fichtinger and Louis L. Whitcomb and Ergin Atalar},

url = {http://dx doi org/10 1002/pros 20298

https://labs.cs.queensu.ca/perklab/wp-content/uploads/sites/3/2024/02/Chowning2006.pdf},

doi = {10 1002/pros 20298},

year  = {2006},

date = {2006-03-01},

urldate = {2006-03-01},

journal = {The Prostate},

volume = {66},

number = {4},

pages = {344–357},

publisher = {Department of Biomedical Engineering, Johns Hopkins University School of Medicine, Baltimore, Maryland 21205, USA schowning@mri jhu edu},

abstract = {<p>PURPOSE: Understanding the internal dynamics of prostate injections, particularly injection pattern distribution is a key step to developing new therapies for prostate disease that may be best served with a direct injection approach Due to excellent properties involving liquid contrast agents, MRI can be used for targeting, monitoring of injections into organs, tissues MATERIALS AND METHODS: Eleven intraprostatic injections were performed in vivo with canines using a custom transrectal guiding, imaging system for use in a standard 1 5 T MR scanner In addition, 25 injections were performed on excised cadaveric human prostates, using a MedRad Spectris injector system MRI was used to guide the injections, monitor intraparenchymal injection distribution RESULTS: T1, T2-weighted MR images were correlated with histology to produce three-dimensional data sets that can be used to analyze trends in injection patterns This analysis was used to develop strategies for injection prediction such as gadolinium pre-injections, diffusion-weighted imaging guidance In addition, a rough model of prostate injections is described, and a preliminary injection guide is developed that takes into account the individual clinician’s goals for therapy CONCLUSIONS: MR visualization of injected therapeutic agents allows for prediction, monitoring of drug distributions, possibly improving efficacy, reducing side effects Injection analysis, modeling may be used to assist in optimizing clinical treatments that require or would benefit from focal parenchymal injections into the prostate</p>},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{Susil2006,

title = {Transrectal prostate biopsy and fiducial marker placement in a standard 1 5T magnetic resonance imaging scanner},

author = {Robert Susil and Cynthia Menard and Axel Krieger and Jonathan Coleman and Kevin Camphausen and Peter Choyke and Gabor Fichtinger and Louis L. Whitcomb and Norman Coleman and Ergin Atalar},

url = {http://dx doi org/10 1016/S0022-5347(05)00065-0

https://labs.cs.queensu.ca/perklab/wp-content/uploads/sites/3/2024/02/Susil2006.pdf},

doi = {10 1016/S0022-5347(05)00065-0},

year  = {2006},

date = {2006-01-01},

urldate = {2006-01-01},

journal = {The Journal of Urology},

volume = {175},

number = {1},

pages = {113–120},

publisher = {Department of Biomedical Engineering, Johns Hopkins University School of Medicine, Baltimore, Maryland, USA},

abstract = {<p>PURPOSE: We investigated the accuracy, feasibility of a system that provides transrectal needle access to the prostate concurrent with 1 5 Tesla MRI which previously has not been possible MATERIALS AND METHODS: In 5 patients with previously diagnosed prostate cancer, MRI guided intraprostatic placement of gold fiducial markers (4 procedures),/or prostate biopsy (3 procedures) was performed using local anesthesia RESULTS: Mean procedure duration was 76 minutes, all patients tolerated the intervention well Procedure related adverse events included self-limited hematuria, hematochezia following 3 of 8 procedures (all resolved in less than 1 week) Mean needle placement accuracy was 1 9 mm for the fiducial marker placement studies, 1 8 mm for the biopsy procedures Mean fiducial marker placement accuracy was 4 8 mm, the mean fiducial marker placement accuracy transverse to the needle direction was 2 6 mm All patients who underwent the procedure were able to complete their course of radiotherapy without delay or complication CONCLUSIONS: While studies of clinical usefulness are warranted, transrectal 1 5 T MRI guided prostate biopsy, fiducial marker placement is feasible using this system, providing new opportunities for image guided diagnostic, therapeutic prostate interventions</p>},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{Krieger2005a,

title = {Design of a novel MRI compatible manipulator for image guided prostate interventions},

author = {Axel Krieger and Robert Susil and Cynthia Menard and Jonathan Coleman and Gabor Fichtinger and Ergin Atalar and Louis L. Whitcomb},

url = {http://dx doi org/10 1109/TBME 2004 840497

https://labs.cs.queensu.ca/perklab/wp-content/uploads/sites/3/2024/02/Krieger2004.pdf},

doi = {10 1109/TBME 2004 840497},

year  = {2005},

date = {2005-02-01},

urldate = {2005-02-01},

journal = {IEEE Transactions on Biomedical Engineering},

volume = {52},

number = {2},

pages = {306–313},

abstract = {<p>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</p>},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{Menard2005,

title = {An Interventional MRI Technique for the Molecular Characterization of Intra-Prostatic Dynamic Contrast Enhancement},

author = {Cynthia Menard and Robert Susil and Peter Choyke and Jonathan Coleman and R. L. Grubb III and Ahmed Gharib and Axel Krieger and Peter Guion and David Thomasson and Karen Ullman and Sandeep Gupta and Virginia Espina and Lance Liotta and Emanuel Petricoin and Gabor Fichtinger and Louis L. Whitcomb and Ergin Atalar and Norman Coleman and Kevin Camphausen},

year  = {2005},

date = {2005-01-01},

urldate = {2005-01-01},

journal = {Molecular Imaging},

volume = {4 No 1},

pages = {63-66},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{Balogh2004,

title = {Visualization, Planning, and Monitoring Software for MRI-Guided Prostate Intervention Robot},

author = {Emese Balogh and Anton Degeut and Robert Susil and Axel Krieger and Anand Viswanathan and Cynthia Menard and Jonathan Coleman and Gabor Fichtinger},

url = {https://labs.cs.queensu.ca/perklab/wp-content/uploads/sites/3/2024/02/Balogh2004.pdf},

year  = {2004},

date = {2004-01-01},

urldate = {2004-01-01},

journal = {Proceedings Lecture Notes in Computer Science Medical Image Computing and Computer-Assisted Intervention (MICCAI)},

volume = {3217},

pages = {73-80},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{Susil2003,

title = {System for MR image-guided prostate interventions: canine study},

author = {Robert Susil and Axel Krieger and Andrew Derbyshire and Attila Tanacs and Louis L. Whitcomb and Gabor Fichtinger and Ergin Atalar},

url = {http://dx doi org/10 1148/radiol 2283020911

https://labs.cs.queensu.ca/perklab/wp-content/uploads/sites/3/2024/02/Susil2003.pdf},

doi = {10 1148/radiol 2283020911},

year  = {2003},

date = {2003-09-01},

urldate = {2003-09-01},

journal = {Radiology},

volume = {228},

number = {3},

pages = {886–894},

abstract = {<p>The purpose of this study was to demonstrate the use of a transrectal system that enables precise magnetic resonance (MR) image guidance, monitoring of prostate interventions The system used a closed-bore 1 5-T MR imaging unit, enables one to take advantage of the higher signal-to-noise ratio achieved with traditional magnet designs, which is crucial for accurate targeting, monitoring of prostate interventions In the first of the four canine studies, reliable needle placement, with all needles placed within 2 mm of the desired target site, was achieved In two other studies, MR imaging was used to monitor distribution of injected contrast agent solution (gadopentetate dimeglumine mixed with trypan blue dye) in, around the prostate, thereby confirming that solution had been delivered to the desired tissue, also detecting faulty injections In the final study, accurate placement, MR imaging of brachytherapy seeds in the prostate were demonstrated The described system provides a flexible platform for a variety of minimally invasive MR image-guided therapeutic, diagnostic prostate interventions</p>},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{Fichtinger2003c,

title = {Prostate biopsy and local therapy inside conventional closed mri with robotic assistance - animal studies},

author = {Gabor Fichtinger and Robert Susil and Axel Krieger and Attila Tanacs and Louis L. Whitcomb and Ergin Atalar},

url = {http://www sciencedirect com/science/article/B75BK-496D439-31/2/7aa2439d75eef1a22dca0f298c235db2

https://labs.cs.queensu.ca/perklab/wp-content/uploads/sites/3/2024/02/Fichtinger2003.pdf},

doi = {DOI: 10 1016/S1076-6332(03)00042-4},

issn = {1076-6332},

year  = {2003},

date = {2003-01-01},

urldate = {2003-01-01},

journal = {Journal of Academic Radiology},

volume = {10},

number = {8},

pages = {955 - 955},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{Fichtinger2002a,

title = {Transrectal prostate biopsy inside closed MRI scanner with remote actuation and under real-time image guidance},

author = {Gabor Fichtinger and Axel Krieger and Robert Susil and Attila Tanacs and Louis L. Whitcomb and Ergin Atalar},

url = {https://labs.cs.queensu.ca/perklab/wp-content/uploads/sites/3/2024/02/Fichtinger2002a.pdf},

year  = {2002},

date = {2002-01-01},

urldate = {2002-01-01},

journal = {Lecture Notes in Computer Science Medical Image Computing and Computer-Assisted Intervention (MICCAI)},

volume = {2488 part 1},

pages = {91-98},

keywords = {},

pubstate = {published},

tppubtype = {article}

}