@article{Seifabadi2015,

title = {Toward teleoperated needle steering under continuous MRI guidance for prostate percutaneous interventions},

author = {Reza Seifabadi and Fereshteh Aalamifar and Iulian Iordachita and Gabor Fichtinger},

url = {https://labs.cs.queensu.ca/perklab/wp-content/uploads/sites/3/2024/02/Seifabadi2015-manuscript.pdf},

year  = {2015},

date = {2015-01-01},

urldate = {2015-01-01},

journal = {The International Journal of Medical Robotics and Computer Assisted Surgery},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{fichtinger2013c,

title = {Accuracy study of a robotic system for MRI‐guided prostate needle placement},

author = {Reza Seifabadi and Nathan BJ Cho and Sang‐Eun Song and Junichi Tokuda and Nobuhiko Hata and Clare M Tempany and Gabor Fichtinger and Iulian Iordachita},

url = {https://onlinelibrary.wiley.com/doi/abs/10.1002/rcs.1440},

year  = {2013},

date = {2013-01-01},

journal = {The International Journal of Medical Robotics and Computer Assisted Surgery},

volume = {9},

issue = {3},

pages = {305-316},

abstract = {Background 

Accurate needle placement is the first concern in percutaneous MRI‐guided prostate interventions. In this phantom study, different sources contributing to the overall needle placement error of a MRI‐guided robot for prostate biopsy have been identified, quantified and minimized to the possible extent. 

Methods 

The overall needle placement error of the system was evaluated in a prostate phantom. This error was broken into two parts: the error associated with the robotic system (called ‘before‐insertion error’) and the error associated with needle–tissue interaction (called ‘due‐to‐insertion error’). Before‐insertion error was measured directly in a soft phantom and different sources contributing into this part were identified and quantified. A calibration methodology was developed to minimize the 4‐DOF manipulator's error. The due‐to‐insertion error was indirectly approximated by comparing the overall …},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{fichtinger2013f,

title = {Real-time tracking of a bevel-tip needle with varying insertion depth: Toward teleoperated MRI-guided needle steering},

author = {Reza Seifabadi and Esteban Escobar Gomez and Fereshteh Aalamifar and Gabor Fichtinger and Iulian Iordachita},

url = {https://ieeexplore.ieee.org/abstract/document/6696393/},

year  = {2013},

date = {2013-01-01},

pages = {469-476},

publisher = {IEEE},

abstract = {This study presents one of the enabling technologies for teleoperated bevel-tip needle steering under real-time MRI guidance i.e. capability of tracking the needle with higher accuracy and bandwidth than real-time MRI. Three fibers, each with three Fiber Bragg Gratings (FBG) were embedded into a 0.6 mm inner stylet of a 20G MRI-compatible biopsy needle. The axial force caused by the bevel-tip was considered in the analysis using beam-column theory. Since the insertion depth is varying, the minimum number of sensors and their optimal locations in the fibers were determined such that the tip position error estimation is below 0.5 mm for all insertion depths. A practical and accurate calibration method for the apparatus is presented. The instrumented needle was fabricated to fit in the needle driver unit of a MRI-compatible needle steering robot. The tracking apparatus was calibrated, including compensation for …},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{fichtinger2013i,

title = {Design of a decoupled MRI-compatible force sensor using fiber Bragg grating sensors for robot-assisted prostate interventions},

author = {Reza Monfaredi and Reza Seifabadi and Gabor Fichtinger and Iulian Iordachita},

url = {https://www.spiedigitallibrary.org/conference-proceedings-of-spie/8671/867118/Design-of-a-decoupled-MRI-compatible-force-sensor-using-fiber/10.1117/12.2008160.short},

year  = {2013},

date = {2013-01-01},

volume = {8671},

pages = {319-327},

publisher = {SPIE},

abstract = {During prostate needle insertion, the gland rotates and displaces resulting in needle placement inaccuracy. To compensate for this error, we proposed master-slave needle steering under real-time MRI in a previous study. For MRI-compatibility and accurate motion control, the master (and the slave) robot uses piezo actuators. These actuators however, are non-backdrivable. To cope with this issue, force sensor is required. Force sensor is also required at the slave side to reflect the insertion force to clinician’s hand through the master robot. Currently, there is no MRI-compatible force sensor commercially available. In order to generate a combination of linear and rotary motions for needle steering, this study is seeking to develop a MRI-compatible 2 Degrees of Freedom (DOF) force/torque sensor. Fiber Brag Grating (FBG) strain measuring sensors which are proven to be MRI-compatible are used. The active element …},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{Siefabadi2012a,

title = {Acuracy Study of a MRI-guided Robotic System for Prostate Needle Placement},

author = {Reza Seifabadi and Nathan Bongjoon Cho and Sam Sang-Eun Song and Junichi Tokuda and Nobuhiko Hata and Clare M Tempany and Gabor Fichtinger and Iulian Iordachita},

url = {http://onlinelibrary.wiley.com/doi/10.1002/rcs.1440/abstract

https://labs.cs.queensu.ca/perklab/wp-content/uploads/sites/3/2024/02/rcs1440.pdf},

doi = {10.1002/rcs.1440},

year  = {2012},

date = {2012-01-01},

urldate = {2012-01-01},

journal = {The International Journal of Medical Robotics and Computer Assisted Surgery (IJMRCAS)},

abstract = {<p>Background: Accurate needle placement is the first concern in percutaneous MRI-guided prostate interventions. In this phantom study, different sources contributing to the overall needle placement error of a MRI-guided robot for prostate biopsy have been identified, quantified, and minimized to the possible extent. Methods and Materials: The overall needle placement error of the system was evaluated in a prostate phantom. This error was broken into two parts: the error associated with the robotic system (called before-insertion error) and the error associated with needle-tissue interaction (called due-to-insertion error). The before-insertion error was measured directly in a soft phantom and different sources contributing into this part were identified and quantified. A calibration methodology was developed to minimize the 4-DOF manipulator’s error. The due-toinsertion error was indirectly approximated by comparing the overall error and the beforeinsertion error. The effect of sterilization on the manipulator’s accuracy and repeatability was also studied. Results: The average overall system error in phantom study was 2.5 mm (STD=1.1mm). The average robotic system error in super soft phantom was 1.3 mm (STD=0.7 mm). Assuming orthogonal error components, the needle-tissue interaction error was approximated to be 2.13 mm thus having larger contribution to the overall error. The average susceptibility artifact shift was 0.2 mm. The manipulator’s targeting accuracy was 0.71 mm (STD=0.21mm) after robot calibration. The robot’s repeatability was 0.13 mm. Sterilization had no noticeable influence on the robot’s accuracy and repeatability. Conclusions: The experimental methodology presented in this paper may help researchers to identify, quantify, and minimize different sources contributing into the overall needle placement error of an MRI-guided robotic system for prostate needle placement. In the robotic system analyzed here, the overall error of the studied system remained within the acceptable range.</p>},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{Tokuda2012b,

title = {Preclinical evaluation of an MRI-compatible pneumatic robot for angulated needle placement in transperineal prostate interventions},

author = {Junichi Tokuda and Sam Sang-Eun Song and Gregory Fischer and Iulian Iordachita and Reza Seifabadi and Nathan Bongjoon Cho and Kemal Tuncali and Gabor Fichtinger and Clare M Tempany and Nobuhiko Hata},

url = {http://www.springerlink.com/content/tl77lrh211608j70/

https://labs.cs.queensu.ca/perklab/wp-content/uploads/sites/3/2024/02/CARS2012_BRP_Tokuda_full.pdf},

doi = {10.1007/s11548-012-0750-1},

year  = {2012},

date = {2012-01-01},

urldate = {2012-01-01},

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

abstract = {<p>Purpose. To support transperineal prostate biopsies in a closed-bore magnetic resonance imaging (MRI) scanner, we developed a small profile MRI-compatible pneumatic needle placement robot that can angulate a needle insertion path into a large accessible target volume. We performed a preclinical evaluation of the robot’s targeting accuracy with angulated needle insertion in a 3 Tesla clinical MRI. Methods. Angulation of the needle insertion path is achieved by a four degrees-of-freedom (4-DOF) mechanism with two parallel triangular structures. The robot is integrated with navigation software that allows an operator to plan angulated needle insertion by selecting a target and an entry point. The targeting error was evaluated while the angle between the needle insertion path and the static magnetic field was between -5.7° and 5.7° horizontally and between -5.7° and 4.3° vertically in the MRI scanner after sterilizing and draping the device. Results. The needle placement robot successfully positioned the needle with angulated insertion as specified on the navigation software. The overall targeting error was 0.8 ± 0.5 mm along the horizontal axis and 0.8 ± 0.8 mm along the vertical axis. The two-dimensional root-mean-square targeting error on the axial slices as containing the targets was 1.4 mm. Conclusions. Our preclinical evaluation demonstrated that the MRI-compatible pneumatic needle placement robot with the 4-DOF parallel kinematic structure with the capability to angulate the needle insertion path provides sufficient targeting accuracy for clinical MRI-guided prostate interventions.</p>},

keywords = {},

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{fichtinger2012h,

title = {Design of a teleoperated needle steering system for MRI-guided prostate interventions},

author = {Reza Seifabadi and Iulian Iordachita and Gabor Fichtinger},

url = {https://ieeexplore.ieee.org/abstract/document/6290862/},

year  = {2012},

date = {2012-01-01},

pages = {793-798},

publisher = {IEEE},

abstract = {Accurate needle placement plays a key role in success of prostate biopsy and brachytherapy. During percutaneous interventions, the prostate gland rotates and deforms which may cause significant target displacement. In these cases straight needle trajectory is not sufficient for precise targeting. Although needle spinning and fast insertion may be helpful, they do not entirely resolve the issue. We propose robotassisted bevel-tip needle steering under MRI guidance as a potential solution to compensate for the target displacement. MRI is chosen for its superior soft tissue contrast in prostate imaging. Due to the confined workspace of the MRI scanner and the requirement for the clinician to be present inside the MRI room during the procedure, we designed a MRI-compatible 2-DOF haptic device to command the needle steering slave robot which operates inside the scanner. The needle steering slave robot was …},

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}

}