@article{connolly2024,

title = {SlicerROS2: A Research and Development Module for Image-Guided Robotic Interventions},

author = {Laura Connolly and Aravind S Kumar and Kapi Ketan Mehta and Lidia Al-Zogbi and Peter Kazanzides and Parvin Mousavi and Gabor Fichtinger and Axel Krieger and Junichi Tokuda and Russell H Taylor and Simon Leonard and Anton Deguet},

year  = {2024},

date = {2024-01-01},

journal = {IEEE Transactions on Medical Robotics and Bionics},

publisher = {IEEE},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@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{fichtinger2022e,

title = {Bridging 3D Slicer and ROS2 for image-guided robotic interventions},

author = {Laura Connolly and Anton Deguet 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},

url = {https://www.mdpi.com/1424-8220/22/14/5336},

year  = {2022},

date = {2022-01-01},

journal = {Sensors},

volume = {22},

issue = {14},

pages = {5336},

publisher = {MDPI},

abstract = {Developing image-guided robotic systems requires access to flexible, open-source software. For image guidance, the open-source medical imaging platform 3D Slicer is one of the most adopted tools that can be used for research and prototyping. Similarly, for robotics, the open-source middleware suite robot operating system (ROS) is the standard development framework. In the past, there have been several “ad hoc” attempts made to bridge both tools; however, they are all reliant on middleware and custom interfaces. Additionally, none of these attempts have been successful in bridging access to the full suite of tools provided by ROS or 3D Slicer. Therefore, in this paper, we present the SlicerROS2 module, which was designed for the direct use of ROS2 packages and libraries within 3D Slicer. The module was developed to enable real-time visualization of robots, accommodate different robot configurations, and facilitate data transfer in both directions (between ROS and Slicer). We demonstrate the system on multiple robots with different configurations, evaluate the system performance and discuss an image-guided robotic intervention that can be prototyped with this module. This module can serve as a starting point for clinical system development that reduces the need for custom interfaces and time-intensive platform setup.},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{fichtinger2018j,

title = {Method for insertion of a medical device within a body during a medical imaging process},

author = {Louis L. Whitcomb and Axel Krieger and Robert C. Susil and Gabor Fichtinger and Ergin Atalar and Iulian I. Iordachita},

url = {https://patents.google.com/patent/US9968280B2/en},

year  = {2018},

date = {2018-01-01},

urldate = {2018-01-01},

abstract = {A method for tracking movement of a movable portion of an interventional device disposed within a natural or artificial body opening is provided. In particular, image data of fiducials is acquired and therefrom an initial position of an interventional device movable portion with respect to a given coordinate system is determined. Next, real time position data from the encoders is acquired as the movable portion is moved from the initial position, and a displaced position from the initial position is determined. From this acquired information, a position of the movable portion in the coordinate system is determined using both the initial position as determined from the image data and the real time displaced position as determined from the encoders.},

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{fichtinger2012e,

title = {Robotic system for MRI-guided prostate biopsy: feasibility of teleoperated needle insertion and ex vivo phantom study},

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

url = {https://link.springer.com/article/10.1007/s11548-011-0598-9},

year  = {2012},

date = {2012-01-01},

journal = {International journal of computer assisted radiology and surgery},

volume = {7},

pages = {181-190},

publisher = {Springer-Verlag},

abstract = {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 with 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 …},

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{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{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{fichtinger2011b,

title = {An MRI-compatible robotic system with hybrid tracking for MRI-guided prostate intervention},

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

url = {https://ieeexplore.ieee.org/abstract/document/5740584/},

year  = {2011},

date = {2011-01-01},

journal = {IEEE Transactions on Biomedical Engineering},

volume = {58},

issue = {11},

pages = {3049-3060},

publisher = {IEEE},

abstract = {This paper reports the development, evaluation, and first clinical trials of the access to the prostate tissue (APT) II system-a scanner independent system for magnetic resonance imaging (MRI)-guided transrectal prostate interventions. The system utilizes novel manipulator mechanics employing a steerable needle channel and a novel six degree-of-freedom hybrid tracking method, comprising passive fiducial tracking for initial registration and subsequent incremental motion measurements. Targeting accuracy of the system in prostate phantom experiments and two clinical human-subject procedures is shown to compare favorably with existing systems using passive and active tracking methods. The portable design of the APT II system, using only standard MRI image sequences and minimal custom scanner interfacing, allows the system to be easily used on different MRI scanners.},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{fichtinger2011,

title = {Development and evaluation of an actuated MRI-compatible robotic system for MRI-guided prostate intervention},

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

url = {https://ieeexplore.ieee.org/abstract/document/6047576/},

year  = {2011},

date = {2011-01-01},

journal = {IEEE/ASME Transactions on Mechatronics},

volume = {18},

issue = {1},

pages = {273-284},

publisher = {IEEE},

abstract = {This paper reports the design, development, and magnetic resonance imaging (MRI) compatibility evaluation of an actuated transrectal prostate robot for MRI-guided needle intervention in the prostate. The robot performs actuated needle MRI guidance with the goals of providing 1) MRI compatibility; 2) MRI-guided needle placement with accuracy sufficient for targeting clinically significant prostate cancer foci; 3) reducing interventional procedure times (thus increasing patient comfort and reducing opportunity for needle targeting error due to patient motion); 4) enabling real-time MRI monitoring of interventional procedures; and 5) reducing the opportunities for error that arise in manually actuated needle placement. The design of the robot, employing piezoceramic-motor actuated needle guide positioning and manual needle insertion, is reported. Results of an MRI compatibility study show no reduction of MRI signal …},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{fichtinger2010u,

title = {Clinical accuracy of robot-assisted prostate biopsy in closed MRI scanner},

author = {Helen Xu and Andras Lasso and Siddharth Vikal and Peter Guion and Axel Krieger and Aradhana Kaushal and Louis L Whitcomb and Gabor Fichtinger},

url = {http://perk.cs.queensu.ca/sites/perk.cs.queensu.ca/files/Xu2010b.pdf},

year  = {2010},

date = {2010-01-01},

journal = {The Hamlyn Symposium on Medical Robotics, London},

pages = {7-8},

abstract = {Prostate cancer, affecting one in every six men, remains the number one cancer-related death in men [1]. In the pursuit of more accurate biopsy, Krieger and Susil [2, 3] developed robotic assistance under MR image guidance. To date, their system has been used in 200+ biopsies at the US National Cancer Institute. A limited validation study was presented earlier [4]. Here we report a more comprehensive retrospective evaluation of the Krieger-Susil biopsy system. We analyze a larger set of patient data in an improved validation workflow and produce a formal statistical analysis and draw strong conclusions.},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{fichtinger2010h,

title = {MRI-guided robotic prostate biopsy: a clinical accuracy validation},

author = {Helen Xu and Andras Lasso and Siddharth Vikal and Peter Guion and Axel Krieger and Aradhana Kaushal and Louis L Whitcomb and Gabor Fichtinger},

url = {https://link.springer.com/chapter/10.1007/978-3-642-15711-0_48},

year  = {2010},

date = {2010-01-01},

pages = {383-391},

publisher = {Springer Berlin Heidelberg},

abstract = {Prostate cancer is a major health threat for men. For over five years, the U.S. National Cancer Institute has performed prostate biopsies with a magnetic resonance imaging (MRI)-guided robotic system. Purpose: A retrospective evaluation methodology and analysis of the clinical accuracy of this system is reported. Methods: Using the pre and post-needle insertion image volumes, a registration algorithm that contains a two-step rigid registration followed by a deformable refinement was developed to capture prostate dislocation during the procedure. The method was validated by using three-dimensional contour overlays of the segmented prostates and the registrations were accurate up to 2 mm. Results: It was found that tissue deformation was less of a factor than organ displacement. Out of the 82 biopsies from 21 patients, the mean target displacement, needle placement error, and clinical biopsy error was …},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{fichtinger2010f,

title = {Development and preliminary evaluation of an actuated MRI-compatible robotic device for MRI-guided prostate intervention},

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

url = {https://ieeexplore.ieee.org/abstract/document/5509727/},

year  = {2010},

date = {2010-01-01},

pages = {1066-1073},

publisher = {IEEE},

abstract = {This paper reports the design, development, and magnetic resonance imaging (MRI) compatibility evaluation of an actuated transrectal prostate robot for MRI-guided intervention. The robot employs an actuated needle guide with the goal of reducing interventional procedure times and increasing needle placement accuracy. The design of the robot, employing piezo-ceramic-motor actuated needle guide positioning and manual needle insertion, is reported. Results of a MRI compatibility study show no reduction of MRI image signal-to-noise-ratio (SNR) with the motors disabled and a 40% to 60% reduction in SNR with the motors enabled. The addition of radio-frequency (RF) shielding is shown to significantly reduce image SNR degradation due to the presence of the robotic device.},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{fichtinger2008s,

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

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

url = {http://perk.cs.queensu.ca/sites/perk.cs.queensu.ca/files/Krieger2008.pdf},

year  = {2008},

date = {2008-01-01},

journal = {Seventh Interventional MRI Symposium},

abstract = {2 Materials and Methods 

Figure 1 shows the interventional device placed in a standard prostate phantom (CIRS Inc, Norfolk, VA). The device guides the needle tip of a standard automatic MR compatible biopsy gun (Invivo Germany GmbH, Schwerin, Germany) to a predetermined target in the prostate. The device contains an endorectal probe with integrated single loop imaging coil. A two channel surface imaging coil is placed underneath the phantom to enhance the MRI signal. A steerable needle channel is integrated into the probe. The three degrees of freedom (DOF) to reach a target in the prostate are rotation of the probe, angulation change of the steerable needle channel, and insertion of the needle.},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{fichtinger2008i,

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 Robert L Grubb and Paul S Albert and Greg Metzger and Karen Ullman and Sharon Smith and Gabor Fichtinger and Iclal Ocak and Peter Choyke and Cynthia Ménard and Jonathan Coleman},

url = {https://bjui-journals.onlinelibrary.wiley.com/doi/abs/10.1111/j.1464-410X.2007.07219.x},

year  = {2008},

date = {2008-01-01},

journal = {BJU international},

volume = {101},

issue = {2},

pages = {181-185},

publisher = {Blackwell Publishing Ltd},

abstract = {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 and recent negative transrectal ultrasonography (TRUS)‐guided prostate biopsies. 

PATIENTS AND METHODS 

Between July 2004 and 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 and dynamic contrast‐enhanced (DCE) imaging studies. 

RESULTS 

Thirteen patients were eligible; their median (range) age was 61 (47–74) years and 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 …},

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{fichtinger2008f,

title = {MRI compatibility of robot actuation techniques–a comparative study},

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

url = {https://link.springer.com/chapter/10.1007/978-3-540-85990-1_61},

year  = {2008},

date = {2008-01-01},

pages = {509-517},

publisher = {Springer Berlin Heidelberg},

abstract = {This paper reports an experimental evaluation of the following three different MRI-compatible actuators: a Shinsei ultrasonic motor, a Nanomotion ultrasonic motor and a pneumatic cylinder actuator. We report the results of a study comparing the effect of these actuators on the signal to noise ratio (SNR) of MRI images under a variety of experimental conditions. Evaluation was performed with the controller inside and outside the scanner room and with both 1.5T and 3T MRI scanners. Pneumatic cylinders function with no loss of SNR with controller both inside and outside of the scanner room. The Nanomotion motor performs with moderate loss of SNR when moving during imaging. The Shinsei is unsuitable for motion during imaging. All may be used when motion is appropriately interleaved with imaging cycles.},

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{fichtinger2007e,

title = {Simultaneous integrated boost of biopsy proven, 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 S Albert and Gabor Fichtinger and Peter L Choyke and Sheng Xu and Jochen Kruecker and Bradford J Wood and Axel Krieger and Holly Ning},

url = {https://link.springer.com/article/10.1186/1748-717X-2-36},

year  = {2007},

date = {2007-01-01},

journal = {Radiation Oncology},

volume = {2},

issue = {1},

pages = {36},

publisher = {BioMed Central},

abstract = {Background 

To assess the feasibility and 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 and 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 and the remainder of the prostate + 7 mm received 94.5/75.6 Gray (Gy …},

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{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{fichtinger2006b,

title = {Transrectal prostate biopsy and fiducial marker placement in a standard 1.5 T magnetic resonance imaging scanner},

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

url = {https://www.auajournals.org/doi/abs/10.1016/S0022-5347%2805%2900065-0},

year  = {2006},

date = {2006-01-01},

journal = {The Journal of urology},

volume = {175},

issue = {1},

pages = {113-120},

publisher = {Wolters Kluwer},

abstract = {Purpose 

We investigated the accuracy and 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) and/or prostate biopsy (3 procedures) was performed using local anesthesia. 

Results 

Mean procedure duration was 76 minutes and all patients tolerated the intervention well. Procedure related adverse events included self-limited hematuria and 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 and 1.8 mm for the biopsy procedures. Mean fiducial marker placement accuracy was 4.8 mm and the mean fiducial marker placement accuracy transverse to the …},

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{fichtinger2004h,

title = {1792: Technique and Accuracy of a Clinical System for Transrectal Intraprostatic Needle Placement in a Standard 1.5 T MRI Scanner},

author = {Robert C Susil and Jonathan A Coleman and Axel Krieger and Kevin Camphausen and C Norman Coleman and W Marston Linehan and Gabor Fichtinger and Louis L Whitcomb and Ergin Atalar and Cynthia Ménard},

url = {https://www.auajournals.org/doi/pdf/10.1016/S0022-5347%2818%2938984-5},

year  = {2004},

date = {2004-01-01},

journal = {The Journal of Urology},

volume = {171},

issue = {4S},

pages = {473-474},

publisher = {Wolters Kluwer},

abstract = {METHODS: Ejaculates were collected from patients who were to undergo prostate biopsy, patients who were normal and age matched, and patients who were undergoing routine fertility examination in a fertility/andrology laboratory. Samples were frozen until they were examined by a competitive immunoassay for HCA in triplicate. The method was similar to the competitive serum assay reported by Codington, et. al., JNCI 1984; 73 (5): I 029-1037 with the exception of the sample dilution levels. PSA levels were measured on corresponding serum samples. Data were analyzed with Receiver Operator Curve (ROC) methods. RESULTS: Patient samples were categorized (9 cancer and 75 non-cancer) and ROC analysis provided the following results; AUC 0.929, cutoff 190, Sensitivity 100%, Specificity 83%. Age and HCA level and PSA versus HCA level were uncorrelated (R2= 6E-06},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{fichtinger2004e,

title = {Visualization, planning, and monitoring software for MRI-guided prostate intervention robot},

author = {Emese Balogh and Anton Deguet and Robert C Susil and Axel Krieger and Anand Viswanathan and Cynthia Ménard and Jonathan A Coleman and Gabor Fichtinger},

url = {https://link.springer.com/chapter/10.1007/978-3-540-30136-3_10},

year  = {2004},

date = {2004-01-01},

pages = {73-80},

publisher = {Springer Berlin Heidelberg},

abstract = {This paper reports an interactive software interface for visualization, planning, and monitoring of intra-prostatic needle placement procedures performed with a robotic assistant device inside standard cylindrical high-field magnetic resonance imaging (MRI) scanner. We use anatomical visualization and image processing techniques to plan the process and apply active tracking coils to localize the robot in real-time to monitor its motion relative to the anatomy. The interventional system is in Phase-I clinical trials for prostate biopsy and marker seed placement. The system concept, mechanical design, and in-vivo canine studies have been presented earlier [6,10,14]. The software architecture and three-dimensional application software interface discussed in this paper are new additions. This software was tested on pre-recorded patient data.},

keywords = {},

pubstate = {published},

tppubtype = {article}

}