Herve Mathieu
Postdoctoral Researcher
CISST Center
Johns Hopkins University
Fichtinger, Gabor; Degeut, Anton; Masamune, Ken; Balogh, Emese; Fischer, Gregory; Mathieu, Herve; Taylor, Russell H.; Zinreich, James; Fayad, Laura
Image overlay guidance for needle insertion in CT scanner Journal Article
In: IEEE transactions on biomedical engineering, vol. 52, no. 8, pp. 1415–1424, 2005.
@article{Fichtinger2005a,
title = {Image overlay guidance for needle insertion in CT scanner},
author = {Gabor Fichtinger and Anton Degeut and Ken Masamune and Emese Balogh and Gregory Fischer and Herve Mathieu and Russell H. Taylor and James Zinreich and Laura Fayad},
url = {https://labs.cs.queensu.ca/perklab/wp-content/uploads/sites/3/2024/02/Fichtinger2005a.pdf},
doi = {10 1109/TBME 2005 851493},
year = {2005},
date = {2005-08-01},
urldate = {2005-08-01},
journal = {IEEE transactions on biomedical engineering},
volume = {52},
number = {8},
pages = {1415–1424},
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Fichtinger, Gabor; Degeut, Anton; Masamune, Ken; Fischer, Gregory; Balogh, Emese; Mathieu, Herve; Taylor, Russell H.; Fayad, Laura; Zinreich, James
Needle Insertion in CT Scanner with Image Overlay - Cadaver Studies Journal Article
In: Proceedings in Lecture Notes in Computer Science Medical Image Computing and Computer-Assisted Intervention (MICCAI), vol. 3217, pp. 795-803, 2004.
@article{Fichtinger2004,
title = {Needle Insertion in CT Scanner with Image Overlay - Cadaver Studies},
author = {Gabor Fichtinger and Anton Degeut and Ken Masamune and Gregory Fischer and Emese Balogh and Herve Mathieu and Russell H. Taylor and Laura Fayad and James Zinreich},
url = {https://labs.cs.queensu.ca/perklab/wp-content/uploads/sites/3/2024/02/Fichtinger2004.pdf},
year = {2004},
date = {2004-01-01},
urldate = {2004-01-01},
journal = {Proceedings in Lecture Notes in Computer Science Medical Image Computing and Computer-Assisted Intervention (MICCAI)},
volume = {3217},
pages = {795-803},
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pubstate = {published},
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Boctor, Emad; Webster, Robert; Mathieu, Herve; Okamura, Allison; Fichtinger, Gabor
Virtual remote center of motion control for needle placement robots Journal Article
In: Journal of Computer Assisted Surgery, vol. 9 (5), pp. 175-183, 2004.
@article{Boctor2004d,
title = {Virtual remote center of motion control for needle placement robots},
author = {Emad Boctor and Robert Webster and Herve Mathieu and Allison Okamura and Gabor Fichtinger},
url = {https://labs.cs.queensu.ca/perklab/wp-content/uploads/sites/3/2024/02/Boctor2003b.pdf},
year = {2004},
date = {2004-01-01},
urldate = {2004-01-01},
journal = {Journal of Computer Assisted Surgery},
volume = {9 (5)},
pages = {175-183},
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pubstate = {published},
tppubtype = {article}
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Fichtinger, Gabor; Deguet, Anton; Masamune, Ken; Balogh, Emese; Fischer, Gregory; Mathieu, Herve; Taylor, Russell H; Fayad, Laura M; Zinreich, S James
Needle insertion in CT scanner with image overlay–cadaver studies Journal Article
In: pp. 795-803, 2004.
@article{fichtinger2004d,
title = {Needle insertion in CT scanner with image overlay–cadaver studies},
author = {Gabor Fichtinger and Anton Deguet and Ken Masamune and Emese Balogh and Gregory Fischer and Herve Mathieu and Russell H Taylor and Laura M Fayad and S James Zinreich},
url = {https://link.springer.com/chapter/10.1007/978-3-540-30136-3_97},
year = {2004},
date = {2004-01-01},
pages = {795-803},
publisher = {Springer Berlin Heidelberg},
abstract = {An image overlay system is presented to assist needle placement in conventional CT scanners. The device consists of a flat LCD display and a half mirror and is mounted on the gantry. Looking at the patient through the mirror, the CT image appears to be floating inside the patient with correct size and position, thereby providing the physician with two-dimensional “X-ray vision” to guide needle placement procedures. The physician inserts the needle following the optimal path identified in the CT image that is rendered on the LCD and thereby reflected in the mirror. The system promises to increase needle placement accuracy and also to reduce X-ray dose, patient discomfort, and procedure time by eliminating faulty insertion attempts. We report cadaver experiments in several clinical applications with a clinically applicable device.},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
An image overlay system is presented to assist needle placement in conventional CT scanners. The device consists of a flat LCD display and a half mirror and is mounted on the gantry. Looking at the patient through the mirror, the CT image appears to be floating inside the patient with correct size and position, thereby providing the physician with two-dimensional “X-ray vision” to guide needle placement procedures. The physician inserts the needle following the optimal path identified in the CT image that is rendered on the LCD and thereby reflected in the mirror. The system promises to increase needle placement accuracy and also to reduce X-ray dose, patient discomfort, and procedure time by eliminating faulty insertion attempts. We report cadaver experiments in several clinical applications with a clinically applicable device.
Boctor, Emad; Webster, Robert; Mathieu, Herve; Okamura, Allison; Fichtinger, Gabor
Virtual remote center of motion control for needle placement robots Journal Article
In: Journal of Computer Aided Surgery, vol. 9, no. 5, pp. 175–183, 2003.
@article{Boctor2003b,
title = {Virtual remote center of motion control for needle placement robots},
author = {Emad Boctor and Robert Webster and Herve Mathieu and Allison Okamura and Gabor Fichtinger},
url = {http://dx doi org/10 1080/10929080500097661},
doi = {10 1080/10929080500097661},
year = {2003},
date = {2003-01-01},
journal = {Journal of Computer Aided Surgery},
volume = {9},
number = {5},
pages = {175–183},
abstract = {<p>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</p>},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
<p>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</p>
Masamune, Ken; Degeut, Anton; Mathieu, Herve; Zinreich, James; Taylor, Russell H.; Sauer, Frank; Fichtinger, Gabor
An Enhanced Reality System for Percutaneous needle placement Therapy inside X-ray CT Scanner Conference
ARCS - Workshop on Augmented Reality in Computer Aided Surgery, 2003.
@conference{Masamune2003,
title = {An Enhanced Reality System for Percutaneous needle placement Therapy inside X-ray CT Scanner},
author = {Ken Masamune and Anton Degeut and Herve Mathieu and James Zinreich and Russell H. Taylor and Frank Sauer and Gabor Fichtinger},
url = {https://labs.cs.queensu.ca/perklab/wp-content/uploads/sites/3/2024/02/Masamune2003.pdf},
year = {2003},
date = {2003-01-01},
urldate = {2003-01-01},
booktitle = {ARCS - Workshop on Augmented Reality in Computer Aided Surgery},
pages = {83},
keywords = {},
pubstate = {published},
tppubtype = {conference}
}
Boctor, Emad M; Webster, Robert J; Mathieu, Herve; Okamura, Allison M; Fichtinger, Gabor
In: Lecture Notes in Computer Science, vol. 2878, pp. 157-164, 2003.
@article{fichtinger2003f,
title = {LNCS 2878: MICCAI 2003 Proceedings, Part I-Robotic Mechanism ans Mechanical Properties of Tissue-Virtual Remote Center of Motion Control for Needle Placement Robots},
author = {Emad M Boctor and Robert J Webster and Herve Mathieu and Allison M Okamura and Gabor Fichtinger},
url = {https://scholar.google.com/scholar?cluster=6454687239002455739&hl=en&oi=scholarr},
year = {2003},
date = {2003-01-01},
journal = {Lecture Notes in Computer Science},
volume = {2878},
pages = {157-164},
publisher = {Berlin: Springer-Verlag, 1973-},
keywords = {},
pubstate = {published},
tppubtype = {article}
}