U-Thainual, Paweena; Vikal, Siddharth; Iordachita, Iulian; Fichtinger, Gabor
The Perk Station: Portable training station for percutaneous interventions Conference
Orthopaedic Care Conference, 2008.
@conference{U-Thainual2008a,
title = {The Perk Station: Portable training station for percutaneous interventions},
author = {Paweena U-Thainual and Siddharth Vikal and Iulian Iordachita and Gabor Fichtinger},
url = {https://labs.cs.queensu.ca/perklab/wp-content/uploads/sites/3/2024/02/U-Thainual2008a.pdf},
year = {2008},
date = {2008-01-01},
urldate = {2008-01-01},
booktitle = {Orthopaedic Care Conference},
keywords = {},
pubstate = {published},
tppubtype = {conference}
}
Lee, Junghoon; Liu, Xiaofeng; Prince, Jerry L.; Fichtinger, Gabor
Prostate brachytherapy seed localization with Gaussian blurring and camera self-calibration Journal Article
In: Medical image computing and computer-assisted intervention (MICCAI), vol. 11, no. Pt 2, pp. 636–643, 2008.
@article{Lee2008a,
title = {Prostate brachytherapy seed localization with Gaussian blurring and camera self-calibration},
author = {Junghoon Lee and Xiaofeng Liu and Jerry L. Prince and Gabor Fichtinger},
url = {https://labs.cs.queensu.ca/perklab/wp-content/uploads/sites/3/2024/02/Lee2008a.pdf},
year = {2008},
date = {2008-01-01},
urldate = {2008-01-01},
journal = {Medical image computing and computer-assisted intervention (MICCAI)},
volume = {11},
number = {Pt 2},
pages = {636–643},
publisher = {Department of Electrical, Computer Engineering, Johns Hopkins University, Baltimore, MD, USA},
abstract = {<p>A tomosynthesis-based prostate brachytherapy seed localization method is described Gaussian-blurred images are computed from a limited number of X-ray images, and a 3-D volume is reconstructed by backprojection Candidate seed locations are extracted from the reconstructed volume, false positive seeds are removed by optimizing a local cost function In case where the estimated pose error is large, a self-calibration process corrects the estimation error of the intrinsic camera parameters, the translation of the pose in order to improve the reconstruction Simulation, phantom experiment results imply that the implanted seed locations can be estimated from four or five images depending on the number of seeds The algorithm was also validated using patient data, successfully localizing the implanted seeds</p>},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
<p>A tomosynthesis-based prostate brachytherapy seed localization method is described Gaussian-blurred images are computed from a limited number of X-ray images, and a 3-D volume is reconstructed by backprojection Candidate seed locations are extracted from the reconstructed volume, false positive seeds are removed by optimizing a local cost function In case where the estimated pose error is large, a self-calibration process corrects the estimation error of the intrinsic camera parameters, the translation of the pose in order to improve the reconstruction Simulation, phantom experiment results imply that the implanted seed locations can be estimated from four or five images depending on the number of seeds The algorithm was also validated using patient data, successfully localizing the implanted seeds</p>
Vikal, Siddharth; Haker, Steven; Tempany, Clare M; Fichtinger, Gabor
Prostate contouring in MRI guided biopsy Conference
Workshop on Prostate image analysis and computer-assisted intervention, International Conference on Medical Image Computing and Computer Assisted Intervention, 2008.
@conference{Vikal2008,
title = {Prostate contouring in MRI guided biopsy},
author = {Siddharth Vikal and Steven Haker and Clare M Tempany and Gabor Fichtinger},
year = {2008},
date = {2008-01-01},
booktitle = {Workshop on Prostate image analysis and computer-assisted intervention, International Conference on Medical Image Computing and Computer Assisted Intervention},
keywords = {},
pubstate = {published},
tppubtype = {conference}
}
Hefny, Mohamed; Abolmaesumi, Purang; Karim-Aghaloo, Zahra; Gobbi, David; Ellis, Randy; Fichtinger, Gabor
Quantification of edematic effects in prostate brachytherapy interventions Journal Article
In: Medical image computing and computer-assisted intervention (MICCAI), vol. 11, no. Pt 2, pp. 493–500, 2008.
@article{Hefny2008,
title = {Quantification of edematic effects in prostate brachytherapy interventions},
author = {Mohamed Hefny and Purang Abolmaesumi and Zahra Karim-Aghaloo and David Gobbi and Randy Ellis and Gabor Fichtinger},
url = {https://labs.cs.queensu.ca/perklab/wp-content/uploads/sites/3/2024/02/Hefny2008.pdf},
year = {2008},
date = {2008-01-01},
urldate = {2008-01-01},
journal = {Medical image computing and computer-assisted intervention (MICCAI)},
volume = {11},
number = {Pt 2},
pages = {493–500},
publisher = {School of Computing, Queen’s University, Kingston, Ontario, Canada},
abstract = {<p>We present a quantitative model to analyze the detrimental effects of for edema on the quality of prostate brachytherapy implants We account for both tissue expansion, implant migration by mapping intra-operative ultrasound, post-implant CT We pre-process the ultrasound with a phase congruency filter, and map it to the volume CT using a B-spline deformable mutual information similarity metric To test the method, we implanted a standard training phantom with 48 seeds, imaged the phantom with ultrasound, CT, registered the two for ground truth Edema was simulated by distorting the CT volume by known transformations The objective was to match the distorted implant to the intra-operative ultrasound Performance was measured relative to ground truth We successfully mapped 100% of deformed seeds to ground truth under edematic expansion up to 40% of volume growth Seed matching performance was 98% with random seed migration of 3mm superimposed on 10% edematic volume growth This method promises to be clinically applicable as the first quantitative analysis tool to measure edematic implant deformations occurring between the operating room, post-operative CT imaging</p>},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
<p>We present a quantitative model to analyze the detrimental effects of for edema on the quality of prostate brachytherapy implants We account for both tissue expansion, implant migration by mapping intra-operative ultrasound, post-implant CT We pre-process the ultrasound with a phase congruency filter, and map it to the volume CT using a B-spline deformable mutual information similarity metric To test the method, we implanted a standard training phantom with 48 seeds, imaged the phantom with ultrasound, CT, registered the two for ground truth Edema was simulated by distorting the CT volume by known transformations The objective was to match the distorted implant to the intra-operative ultrasound Performance was measured relative to ground truth We successfully mapped 100% of deformed seeds to ground truth under edematic expansion up to 40% of volume growth Seed matching performance was 98% with random seed migration of 3mm superimposed on 10% edematic volume growth This method promises to be clinically applicable as the first quantitative analysis tool to measure edematic implant deformations occurring between the operating room, post-operative CT imaging</p>
Tokuda, Junichi; DiMaio, Simon; Fischer, Gregory; Csoma, Csaba; Gobbi, David; Fichtinger, Gabor; Hata, Nobuhiko; Tempany, Clare M
16th Scientific Meeting and Exhibition of International Society of Magnetic Resonance in Medicine, 2008.
@conference{Tokuda2008a,
title = {Real-time MR Imaging Controlled by Transperineal Needle Placement Device for MRI-guided Prostate Biopsy},
author = {Junichi Tokuda and Simon DiMaio and Gregory Fischer and Csaba Csoma and David Gobbi and Gabor Fichtinger and Nobuhiko Hata and Clare M Tempany},
url = {https://labs.cs.queensu.ca/perklab/wp-content/uploads/sites/3/2024/02/Tokuda2008a.pdf},
year = {2008},
date = {2008-01-01},
urldate = {2008-01-01},
booktitle = {16th Scientific Meeting and Exhibition of International Society of Magnetic Resonance in Medicine},
keywords = {},
pubstate = {published},
tppubtype = {conference}
}
Song, Danny Y; Degeut, Anton; Iordachita, Iulian; Armour, Elwood; Jain, Ameet K.; Burdette, E. Clif; Fichtinger, Gabor
Registered ultrasound and fluoroscopy for intraoperative dynamic dosimetry in prostate brachytherapy Journal Article
In: Brachytherapy, vol. 7, no. 2, pp. 102 - 102, 2008, ISSN: 1538-4721.
@article{Song2008,
title = {Registered ultrasound and fluoroscopy for intraoperative dynamic dosimetry in prostate brachytherapy},
author = {Danny Y Song and Anton Degeut and Iulian Iordachita and Elwood Armour and Ameet K. Jain and E. Clif Burdette and Gabor Fichtinger},
url = {http://www sciencedirect com/science/article/B6X3G-4S86YJ8-1B/2/332751abcc9066ed833bea302ef2f604
https://labs.cs.queensu.ca/perklab/wp-content/uploads/sites/3/2024/02/Song2008a.pdf},
doi = {DOI: 10 1016/j brachy 2008 02 364},
issn = {1538-4721},
year = {2008},
date = {2008-01-01},
urldate = {2008-01-01},
journal = {Brachytherapy},
volume = {7},
number = {2},
pages = {102 - 102},
keywords = {},
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Song, Danny Y; Degeut, Anton; Jain, Ameet K.; Armour, Elwood; Yi, Le; Blevins, Jack; Iordachita, Iulian; Burdette, E. Clif; Fichtinger, Gabor
Registered Ultrasound and Fluoroscopy for Intraoperative Dynamic Dosimetry in Prostate Brachytherapy Conference
Workshop on Clinical Image-Guided Therapy: Opportunities and Needs, 2008.
@conference{Song2008b,
title = {Registered Ultrasound and Fluoroscopy for Intraoperative Dynamic Dosimetry in Prostate Brachytherapy},
author = {Danny Y Song and Anton Degeut and Ameet K. Jain and Elwood Armour and Le Yi and Jack Blevins and Iulian Iordachita and E. Clif Burdette and Gabor Fichtinger},
year = {2008},
date = {2008-01-01},
booktitle = {Workshop on Clinical Image-Guided Therapy: Opportunities and Needs},
keywords = {},
pubstate = {published},
tppubtype = {conference}
}
Fichtinger, Gabor; Fiene, Jonathan; Kennedy, Christopher; Iordachita, Iulian; Kronreif, Gernot; Song, Danny Y; Burdette, E. Clif; Kazanzides, Peter
Robotic Assistance for Ultrasound Guided Prostate Brachytherapy Conference
Workshop on Clinical Image-Guided Therapy: Opportunities and Needs, 2008.
@conference{Fichtinger2008a,
title = {Robotic Assistance for Ultrasound Guided Prostate Brachytherapy},
author = {Gabor Fichtinger and Jonathan Fiene and Christopher Kennedy and Iulian Iordachita and Gernot Kronreif and Danny Y Song and E. Clif Burdette and Peter Kazanzides},
url = {https://labs.cs.queensu.ca/perklab/wp-content/uploads/sites/3/2024/02/Fichtinger2007c_0.pdf},
year = {2008},
date = {2008-01-01},
urldate = {2008-01-01},
booktitle = {Workshop on Clinical Image-Guided Therapy: Opportunities and Needs},
keywords = {},
pubstate = {published},
tppubtype = {conference}
}
Song, Danny Y; Fichtinger, Gabor; Fiene, Jonathan; Kennedy, Christopher; Kronreif, Gernot; Iordachita, Iulian; Burdette, E. Clif; Kazanzides, Peter
Robotic needle positioner for ultrasound-guided prostate brachytherapy Journal Article
In: Brachytherapy, vol. 7, no. 2, pp. 176 - 176, 2008, ISSN: 1538-4721.
@article{Song2008a,
title = {Robotic needle positioner for ultrasound-guided prostate brachytherapy},
author = {Danny Y Song and Gabor Fichtinger and Jonathan Fiene and Christopher Kennedy and Gernot Kronreif and Iulian Iordachita and E. Clif Burdette and Peter Kazanzides},
url = {http://www sciencedirect com/science/article/B6X3G-4S86YJ8-9B/2/5e814b7f2bd163b3e6a2aa414211fce0
https://labs.cs.queensu.ca/perklab/wp-content/uploads/sites/3/2024/02/Song2008a.pdf},
doi = {DOI: 10 1016/j brachy 2008 02 440},
issn = {1538-4721},
year = {2008},
date = {2008-01-01},
urldate = {2008-01-01},
journal = {Brachytherapy},
volume = {7},
number = {2},
pages = {176 - 176},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
Gobbi, David; Mousavi, Parvin; Li, K; Xiang, Jing; Campigotto, Adam; Fichtinger, Gabor; Abolmaesumi, Purang
Simulink libraries for visual programming of VTK and ITK Conference
Workshop on Systems and Architectures for Computer Assisted Interventions, held in conjunction with the 11th International Conference on Medical Image Computing and Computer Assisted Intervention, 2008.
@conference{Gobbi2008,
title = {Simulink libraries for visual programming of VTK and ITK},
author = {David Gobbi and Parvin Mousavi and K Li and Jing Xiang and Adam Campigotto and Gabor Fichtinger and Purang Abolmaesumi},
year = {2008},
date = {2008-01-01},
urldate = {2008-01-01},
booktitle = {Workshop on Systems and Architectures for Computer Assisted Interventions, held in conjunction with the 11th International Conference on Medical Image Computing and Computer Assisted Intervention},
keywords = {},
pubstate = {published},
tppubtype = {conference}
}
Tokuda, Junichi; Fischer, Gregory; Csoma, Csaba; DiMaio, Simon; Gobbi, David; Fichtinger, Gabor; Tempany, Clare M; Hata, Nobuhiko
Software strategy for robotic transperineal prostate therapy in closed-bore MRI Journal Article
In: Medical image computing and computer-assisted intervention (MICCAI), vol. 11, no. Pt 2, pp. 701–709, 2008.
@article{Tokuda2008,
title = {Software strategy for robotic transperineal prostate therapy in closed-bore MRI},
author = {Junichi Tokuda and Gregory Fischer and Csaba Csoma and Simon DiMaio and David Gobbi and Gabor Fichtinger and Clare M Tempany and Nobuhiko Hata},
url = {https://labs.cs.queensu.ca/perklab/wp-content/uploads/sites/3/2024/02/Tokuda2008a.pdf},
year = {2008},
date = {2008-01-01},
urldate = {2008-01-01},
journal = {Medical image computing and computer-assisted intervention (MICCAI)},
volume = {11},
number = {Pt 2},
pages = {701–709},
publisher = {Department of Radiology, Brigham, Women’s Hospital, Harvard Medical School, 75 Francis St , Boston, MA 02115, USA tokuda@bwh harvard edu},
abstract = {<p>A software strategy to provide intuitive navigation for MRI-guided robotic transperineal prostate therapy is presented In the system, the robot control unit, the MRI scanner, and open-source navigation software are connected to one another via Ethernet to exchange commands, coordinates, and images Six states of the system called "workphases" are defined based on the clinical scenario to synchronize behaviors of all components The wizard-style user interface allows easy following of the clinical workflow On top of this framework, the software provides features for intuitive needle guidance: interactive target planning; 3D image visualization with current needle position; treatment monitoring through real-time MRI These features are supported by calibration of robot, image coordinates by the fiducial-based registration The performance test shows that the registration error of the system was 2 6 mm in the prostate area, and it displayed real-time 2D image 1 7 s after the completion of image acquisition</p>},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
<p>A software strategy to provide intuitive navigation for MRI-guided robotic transperineal prostate therapy is presented In the system, the robot control unit, the MRI scanner, and open-source navigation software are connected to one another via Ethernet to exchange commands, coordinates, and images Six states of the system called "workphases" are defined based on the clinical scenario to synchronize behaviors of all components The wizard-style user interface allows easy following of the clinical workflow On top of this framework, the software provides features for intuitive needle guidance: interactive target planning; 3D image visualization with current needle position; treatment monitoring through real-time MRI These features are supported by calibration of robot, image coordinates by the fiducial-based registration The performance test shows that the registration error of the system was 2 6 mm in the prostate area, and it displayed real-time 2D image 1 7 s after the completion of image acquisition</p>
Ahmidi, Narges; U-Thainual, Paweena; Vikal, Siddharth; Mousavi, Parvin; Iordachita, Iulian; Fichtinger, Gabor
A System for Performance Analysis of Surgeon Dexterity in Percutaneous Needle-based Interventions Conference
7th Imaging Symposium of the Imaging Network of Ontario, 2008.
@conference{Ahmidi2008,
title = {A System for Performance Analysis of Surgeon Dexterity in Percutaneous Needle-based Interventions},
author = {Narges Ahmidi and Paweena U-Thainual and Siddharth Vikal and Parvin Mousavi and Iulian Iordachita and Gabor Fichtinger},
year = {2008},
date = {2008-01-01},
urldate = {2008-01-01},
booktitle = {7th Imaging Symposium of the Imaging Network of Ontario},
keywords = {},
pubstate = {published},
tppubtype = {conference}
}
Karim-Aghaloo, Zahra; Shrawane, Prasad; Abolmaesumi, Purang; Fichtinger, Gabor; Rohling, Robert
International Conference of the IEEE Engineering in Medicine and Biology Society, vol. 2008, Department of Electrical, Computer Engineering, Queens University, Kingston, ON K7L3N6, Canada Department of Electrical, Computer Engineering, Queens University, Kingston, ON K7L3N6, Canada, 2008.
@conference{Karim-Aghaloo2008,
title = {Towards detecting surgical clips in 3D ultrasound for target localization in radiation therapy: a study on tissue phantoms},
author = {Zahra Karim-Aghaloo and Prasad Shrawane and Purang Abolmaesumi and Gabor Fichtinger and Robert Rohling},
url = {http://dx doi org/10 1109/IEMBS 2008 4650406
https://labs.cs.queensu.ca/perklab/wp-content/uploads/sites/3/2024/02/Karim-Aghaloo2008a.pdf},
doi = {10 1109/IEMBS 2008 4650406},
year = {2008},
date = {2008-01-01},
urldate = {2008-01-01},
booktitle = {International Conference of the IEEE Engineering in Medicine and Biology Society},
volume = {2008},
pages = {5282–5285},
publisher = {Department of Electrical, Computer Engineering, Queens University, Kingston, ON K7L3N6, Canada},
organization = {Department of Electrical, Computer Engineering, Queens University, Kingston, ON K7L3N6, Canada},
abstract = {<p>A study is performed to measure the visibility of small surgical clips in 3D ultrasound volumes of a phantom as the first step towards using such clips as fiducial markers in radiation therapy Visibility is calculated as the contrast to noise ratio of the echo from the clip to the background The appearance of a resonance tail is also calculated using a moment analysis Contrast is found to be high, mostly independent of material, size of the clip All clips are visible, but the length of the tail is found to be dependent on clip orientation to the ultrasound beam The consistent visibility of the clips suggests they are suitable as fiducial markers in ultrasound, the dependency of the resonance tail on orientation provides an opportunity to distinguish clips from other specular reflectors</p>},
keywords = {},
pubstate = {published},
tppubtype = {conference}
}
<p>A study is performed to measure the visibility of small surgical clips in 3D ultrasound volumes of a phantom as the first step towards using such clips as fiducial markers in radiation therapy Visibility is calculated as the contrast to noise ratio of the echo from the clip to the background The appearance of a resonance tail is also calculated using a moment analysis Contrast is found to be high, mostly independent of material, size of the clip All clips are visible, but the length of the tail is found to be dependent on clip orientation to the ultrasound beam The consistent visibility of the clips suggests they are suitable as fiducial markers in ultrasound, the dependency of the resonance tail on orientation provides an opportunity to distinguish clips from other specular reflectors</p>
Fischer, Gregory; Iordachita, Iulian; U-Thainual, Paweena; Carrino, John A; Fichtinger, Gabor
A Training Suite for Image Overlay and Other Needle Insertion Techniques Conference
2008 MICCAI Workshop - Augmented Environments for Medical Imaging and Computer-Aided Surgery (AMI-ARCS), 2008.
@conference{Fischer2008c,
title = {A Training Suite for Image Overlay and Other Needle Insertion Techniques},
author = {Gregory Fischer and Iulian Iordachita and Paweena U-Thainual and John A Carrino 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},
booktitle = {2008 MICCAI Workshop - Augmented Environments for Medical Imaging and Computer-Aided Surgery (AMI-ARCS)},
keywords = {},
pubstate = {published},
tppubtype = {conference}
}
Foroughi, Pezhman; Song, Danny Y; Taylor, Russell H.; Fichtinger, Gabor
Ultrasound Based Localization of Pelvic Anatomical Coordinate System Conference
8th Annual Meeting of Computer Assisted Orthopedic Surgery International (CAOS), 2008.
@conference{Foroughi2008a,
title = {Ultrasound Based Localization of Pelvic Anatomical Coordinate System},
author = {Pezhman Foroughi and Danny Y Song and Russell H. Taylor and Gabor Fichtinger},
url = {https://labs.cs.queensu.ca/perklab/wp-content/uploads/sites/3/2024/02/Foroughi2008a.pdf},
year = {2008},
date = {2008-01-01},
urldate = {2008-01-01},
booktitle = {8th Annual Meeting of Computer Assisted Orthopedic Surgery International (CAOS)},
pages = {81-83},
keywords = {},
pubstate = {published},
tppubtype = {conference}
}
Kettenbach, Joachim; Kronreif, Gernot; Melzer, Andreas; Fichtinger, Gabor; Stoianovici, Dan; Cleary, Kevin
Ultrasound-, CT-, MR-Guided Robot-Assisted Interventions Journal Article
In: Image Processing in Radiology, vol. 3, pp. 393-409, 2008.
@article{Kettenbach2008,
title = {Ultrasound-, CT-, MR-Guided Robot-Assisted Interventions},
author = {Joachim Kettenbach and Gernot Kronreif and Andreas Melzer and Gabor Fichtinger and Dan Stoianovici and Kevin Cleary},
year = {2008},
date = {2008-01-01},
urldate = {2008-01-01},
journal = {Image Processing in Radiology},
volume = {3},
pages = {393-409},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
Taylor, Russell H.; Menciassi, Arianna; Fichtinger, Gabor; Dario, Paolo
Medical Robots and Systems Book Chapter
In: Springer Handbook of Robotics, Chapter 52, pp. na, Springer, 2008.
@inbook{Taylor2008,
title = {Medical Robots and Systems},
author = {Russell H. Taylor and Arianna Menciassi and Gabor Fichtinger and Paolo Dario},
url = {https://labs.cs.queensu.ca/perklab/wp-content/uploads/sites/3/2024/02/Taylor2008.pdf},
year = {2008},
date = {2008-01-01},
urldate = {2008-01-01},
booktitle = {Springer Handbook of Robotics},
pages = {na},
publisher = {Springer},
chapter = {52},
organization = {Springer},
keywords = {},
pubstate = {published},
tppubtype = {inbook}
}
MRI compatibility of robot actuation techniques–a comparative study Journal Article
In: pp. 509-517, 2008.
@article{fischer2008e,
title = {MRI compatibility of robot actuation techniques–a comparative study},
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}
}
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.
Kazanzides, Peter; Fichtinger, Gabor; Hager, Gregory D; Okamura, Allison M; Whitcomb, Louis L; Taylor, Russell H
Surgical and interventional robotics-core concepts, technology, and design [tutorial] Journal Article
In: IEEE robotics & automation magazine, vol. 15, iss. 2, pp. 122-130, 2008.
@article{fichtinger2008e,
title = {Surgical and interventional robotics-core concepts, technology, and design [tutorial]},
author = {Peter Kazanzides and Gabor Fichtinger and Gregory D Hager and Allison M Okamura and Louis L Whitcomb and Russell H Taylor},
url = {https://ieeexplore.ieee.org/abstract/document/4539729/},
year = {2008},
date = {2008-01-01},
journal = {IEEE robotics & automation magazine},
volume = {15},
issue = {2},
pages = {122-130},
publisher = {IEEE},
abstract = {This article presents the first of a three-part tutorial on surgical and interventional robotics. The core concept is that a surgical robot couples information to action in the operating room or interventional suite. This leads to several potential benefits, including increased accuracy and the ability to intervene in areas that are not accessible with conventional instrumentation. We defined the categories of surgical CAD/CAM and surgical assistance. The former is intended to accurately execute a defined plan. The latter is focused on providing augmented capabilities to the physician, such as superhuman or auxiliary (additional) eyes and hands. These categories will be the focus of the final two parts of this tutorial.},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
This article presents the first of a three-part tutorial on surgical and interventional robotics. The core concept is that a surgical robot couples information to action in the operating room or interventional suite. This leads to several potential benefits, including increased accuracy and the ability to intervene in areas that are not accessible with conventional instrumentation. We defined the categories of surgical CAD/CAM and surgical assistance. The former is intended to accurately execute a defined plan. The latter is focused on providing augmented capabilities to the physician, such as superhuman or auxiliary (additional) eyes and hands. These categories will be the focus of the final two parts of this tutorial.
Fischer, Gregory S; Krieger, Axel; Iordachita, Iulian; Csoma, Csaba; Whitcomb, Louis L; Fichtinger, Gabor
MRI compatibility of robot actuation techniques–a comparative study Journal Article
In: pp. 509-517, 2008.
@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}
}
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.