{"id":2418,"date":"2024-05-03T15:13:02","date_gmt":"2024-05-03T15:13:02","guid":{"rendered":"https:\/\/labs.cs.queensu.ca\/perklab\/members\/herve-mathieu\/"},"modified":"2024-05-03T15:13:02","modified_gmt":"2024-05-03T15:13:02","slug":"herve-mathieu","status":"publish","type":"qsc_member","link":"https:\/\/labs.cs.queensu.ca\/perklab\/members\/herve-mathieu\/","title":{"rendered":"Herve Mathieu"},"content":{"rendered":"<div class=\"wp-block-columns is-layout-flex wp-block-columns-is-layout-flex qsc-member-single-core-info-container\">\n<div class=\"wp-block-column is-layout-flow wp-block-column-is-layout-flow qsc-member-single-photo-column\">\n\t\t<img decoding=\"async\" src=\"https:\/\/labs.cs.queensu.ca\/perklab\/wp-content\/plugins\/qsc-members\/\/images\/missing-image-placeholder.png\" class=\"qsc-member-single-photo\"\/>\n\t<\/div>\n<div class=\"wp-block-column is-layout-flow wp-block-column-is-layout-flow qsc-member-single-info-column\">\n<div class=\"qsc-member-name\">\n<h1>Herve Mathieu<\/h1>\n<\/div>\n<div class=\"qsc-member-position\">Postdoctoral Fellow<\/div>\n<div class=\"qsc-member-department\"><\/div>\n<div class=\"qsc-member-organization\">Johns Hopkins University<\/div>\n<div class=\"qsc-member-date-range\">Member from <em>2001<\/em> to <em>2002<\/em><\/div>\n<div class=\"qsc-member-contact\">\n<div class=\"qsc-member-socials\">\n\t\t\t<\/div>\n<\/p><\/div>\n<\/p><\/div>\n<\/div>\n<div class=\"qsc-member-bio\">\n<div class=\"teachpress_pub_list\"><form name=\"tppublistform\" method=\"get\"><a name=\"tppubs\" id=\"tppubs\"><\/a><\/form><div class=\"teachpress_publication_list\"><div class=\"tp_publication tp_publication_article\"><div class=\"tp_pub_info\"><p class=\"tp_pub_author\"> Fichtinger, Gabor;  Degeut, Anton;  Masamune, Ken;  Balogh, Emese;  Fischer, Gregory;  Mathieu, Herve;  Taylor, Russell H.;  Zinreich, James;  Fayad, Laura<\/p><p class=\"tp_pub_title\"><a class=\"tp_title_link\" href=\"https:\/\/dx.doi.org\/10 1109\/TBME 2005 851493\" title=\"Image overlay guidance for needle insertion in CT scanner\" target=\"blank\">Image overlay guidance for needle insertion in CT scanner<\/a> <span class=\"tp_pub_type tp_  article\">Journal Article<\/span> <\/p><p class=\"tp_pub_additional\"><span class=\"tp_pub_additional_in\">In: <\/span><span class=\"tp_pub_additional_journal\">IEEE transactions on biomedical engineering, <\/span><span class=\"tp_pub_additional_volume\">vol. 52, <\/span><span class=\"tp_pub_additional_number\">no. 8, <\/span><span class=\"tp_pub_additional_pages\">pp. 1415\u20131424, <\/span><span class=\"tp_pub_additional_year\">2005<\/span>.<\/p><p class=\"tp_pub_menu\"><span class=\"tp_resource_link\"><a id=\"tp_links_sh_514\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('514','tp_links')\" title=\"Show links and resources\" style=\"cursor:pointer;\">Links<\/a><\/span> | <span class=\"tp_bibtex_link\"><a id=\"tp_bibtex_sh_514\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('514','tp_bibtex')\" title=\"Show BibTeX entry\" style=\"cursor:pointer;\">BibTeX<\/a><\/span><\/p><div class=\"tp_bibtex\" id=\"tp_bibtex_514\" style=\"display:none;\"><div class=\"tp_bibtex_entry\"><pre>@article{Fichtinger2005a,<br \/>\r\ntitle = {Image overlay guidance for needle insertion in CT scanner},<br \/>\r\nauthor = {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},<br \/>\r\nurl = {https:\/\/labs.cs.queensu.ca\/perklab\/wp-content\/uploads\/sites\/3\/2024\/02\/Fichtinger2005a.pdf},<br \/>\r\ndoi = {10 1109\/TBME 2005 851493},<br \/>\r\nyear  = {2005},<br \/>\r\ndate = {2005-08-01},<br \/>\r\nurldate = {2005-08-01},<br \/>\r\njournal = {IEEE transactions on biomedical engineering},<br \/>\r\nvolume = {52},<br \/>\r\nnumber = {8},<br \/>\r\npages = {1415\u20131424},<br \/>\r\nkeywords = {},<br \/>\r\npubstate = {published},<br \/>\r\ntppubtype = {article}<br \/>\r\n}<br \/>\r\n<\/pre><\/div><p class=\"tp_close_menu\"><a class=\"tp_close\" onclick=\"teachpress_pub_showhide('514','tp_bibtex')\">Close<\/a><\/p><\/div><div class=\"tp_links\" id=\"tp_links_514\" style=\"display:none;\"><div class=\"tp_links_entry\"><ul class=\"tp_pub_list\"><li><i class=\"fas fa-file-pdf\"><\/i><a class=\"tp_pub_list\" href=\"https:\/\/labs.cs.queensu.ca\/perklab\/wp-content\/uploads\/sites\/3\/2024\/02\/Fichtinger2005a.pdf\" title=\"https:\/\/labs.cs.queensu.ca\/perklab\/wp-content\/uploads\/sites\/3\/2024\/02\/Fichtinger[...]\" target=\"_blank\">https:\/\/labs.cs.queensu.ca\/perklab\/wp-content\/uploads\/sites\/3\/2024\/02\/Fichtinger[...]<\/a><\/li><li><i class=\"ai ai-doi\"><\/i><a class=\"tp_pub_list\" href=\"https:\/\/dx.doi.org\/10 1109\/TBME 2005 851493\" title=\"Follow DOI:10 1109\/TBME 2005 851493\" target=\"_blank\">doi:10 1109\/TBME 2005 851493<\/a><\/li><\/ul><\/div><p class=\"tp_close_menu\"><a class=\"tp_close\" onclick=\"teachpress_pub_showhide('514','tp_links')\">Close<\/a><\/p><\/div><\/div><\/div><div class=\"tp_publication tp_publication_article\"><div class=\"tp_pub_info\"><p class=\"tp_pub_author\"> Fichtinger, Gabor;  Degeut, Anton;  Masamune, Ken;  Fischer, Gregory;  Balogh, Emese;  Mathieu, Herve;  Taylor, Russell H.;  Fayad, Laura;  Zinreich, James<\/p><p class=\"tp_pub_title\"><a class=\"tp_title_link\" href=\"https:\/\/labs.cs.queensu.ca\/perklab\/wp-content\/uploads\/sites\/3\/2024\/02\/Fichtinger2004.pdf\" title=\"https:\/\/labs.cs.queensu.ca\/perklab\/wp-content\/uploads\/sites\/3\/2024\/02\/Fichtinger2004.pdf\" target=\"blank\">Needle Insertion in CT Scanner with Image Overlay - Cadaver Studies<\/a> <span class=\"tp_pub_type tp_  article\">Journal Article<\/span> <\/p><p class=\"tp_pub_additional\"><span class=\"tp_pub_additional_in\">In: <\/span><span class=\"tp_pub_additional_journal\">Proceedings in Lecture Notes in Computer Science Medical Image Computing and Computer-Assisted Intervention (MICCAI), <\/span><span class=\"tp_pub_additional_volume\">vol. 3217, <\/span><span class=\"tp_pub_additional_pages\">pp. 795-803, <\/span><span class=\"tp_pub_additional_year\">2004<\/span>.<\/p><p class=\"tp_pub_menu\"><span class=\"tp_resource_link\"><a id=\"tp_links_sh_545\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('545','tp_links')\" title=\"Show links and resources\" style=\"cursor:pointer;\">Links<\/a><\/span> | <span class=\"tp_bibtex_link\"><a id=\"tp_bibtex_sh_545\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('545','tp_bibtex')\" title=\"Show BibTeX entry\" style=\"cursor:pointer;\">BibTeX<\/a><\/span><\/p><div class=\"tp_bibtex\" id=\"tp_bibtex_545\" style=\"display:none;\"><div class=\"tp_bibtex_entry\"><pre>@article{Fichtinger2004,<br \/>\r\ntitle = {Needle Insertion in CT Scanner with Image Overlay - Cadaver Studies},<br \/>\r\nauthor = {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},<br \/>\r\nurl = {https:\/\/labs.cs.queensu.ca\/perklab\/wp-content\/uploads\/sites\/3\/2024\/02\/Fichtinger2004.pdf},<br \/>\r\nyear  = {2004},<br \/>\r\ndate = {2004-01-01},<br \/>\r\nurldate = {2004-01-01},<br \/>\r\njournal = {Proceedings in Lecture Notes in Computer Science Medical Image Computing and Computer-Assisted Intervention (MICCAI)},<br \/>\r\nvolume = {3217},<br \/>\r\npages = {795-803},<br \/>\r\nkeywords = {},<br \/>\r\npubstate = {published},<br \/>\r\ntppubtype = {article}<br \/>\r\n}<br \/>\r\n<\/pre><\/div><p class=\"tp_close_menu\"><a class=\"tp_close\" onclick=\"teachpress_pub_showhide('545','tp_bibtex')\">Close<\/a><\/p><\/div><div class=\"tp_links\" id=\"tp_links_545\" style=\"display:none;\"><div class=\"tp_links_entry\"><ul class=\"tp_pub_list\"><li><i class=\"fas fa-file-pdf\"><\/i><a class=\"tp_pub_list\" href=\"https:\/\/labs.cs.queensu.ca\/perklab\/wp-content\/uploads\/sites\/3\/2024\/02\/Fichtinger2004.pdf\" title=\"https:\/\/labs.cs.queensu.ca\/perklab\/wp-content\/uploads\/sites\/3\/2024\/02\/Fichtinger[...]\" target=\"_blank\">https:\/\/labs.cs.queensu.ca\/perklab\/wp-content\/uploads\/sites\/3\/2024\/02\/Fichtinger[...]<\/a><\/li><\/ul><\/div><p class=\"tp_close_menu\"><a class=\"tp_close\" onclick=\"teachpress_pub_showhide('545','tp_links')\">Close<\/a><\/p><\/div><\/div><\/div><div class=\"tp_publication tp_publication_article\"><div class=\"tp_pub_info\"><p class=\"tp_pub_author\"> Boctor, Emad;  Webster, Robert;  Mathieu, Herve;  Okamura, Allison;  Fichtinger, Gabor<\/p><p class=\"tp_pub_title\"><a class=\"tp_title_link\" href=\"https:\/\/labs.cs.queensu.ca\/perklab\/wp-content\/uploads\/sites\/3\/2024\/02\/Boctor2003b.pdf\" title=\"https:\/\/labs.cs.queensu.ca\/perklab\/wp-content\/uploads\/sites\/3\/2024\/02\/Boctor2003b.pdf\" target=\"blank\">Virtual remote center of motion control for needle placement robots<\/a> <span class=\"tp_pub_type tp_  article\">Journal Article<\/span> <\/p><p class=\"tp_pub_additional\"><span class=\"tp_pub_additional_in\">In: <\/span><span class=\"tp_pub_additional_journal\">Journal of Computer Assisted Surgery, <\/span><span class=\"tp_pub_additional_volume\">vol. 9 (5), <\/span><span class=\"tp_pub_additional_pages\">pp. 175-183, <\/span><span class=\"tp_pub_additional_year\">2004<\/span>.<\/p><p class=\"tp_pub_menu\"><span class=\"tp_resource_link\"><a id=\"tp_links_sh_557\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('557','tp_links')\" title=\"Show links and resources\" style=\"cursor:pointer;\">Links<\/a><\/span> | <span class=\"tp_bibtex_link\"><a id=\"tp_bibtex_sh_557\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('557','tp_bibtex')\" title=\"Show BibTeX entry\" style=\"cursor:pointer;\">BibTeX<\/a><\/span><\/p><div class=\"tp_bibtex\" id=\"tp_bibtex_557\" style=\"display:none;\"><div class=\"tp_bibtex_entry\"><pre>@article{Boctor2004d,<br \/>\r\ntitle = {Virtual remote center of motion control for needle placement robots},<br \/>\r\nauthor = {Emad Boctor and Robert Webster and Herve Mathieu and Allison Okamura and Gabor Fichtinger},<br \/>\r\nurl = {https:\/\/labs.cs.queensu.ca\/perklab\/wp-content\/uploads\/sites\/3\/2024\/02\/Boctor2003b.pdf},<br \/>\r\nyear  = {2004},<br \/>\r\ndate = {2004-01-01},<br \/>\r\nurldate = {2004-01-01},<br \/>\r\njournal = {Journal of Computer Assisted Surgery},<br \/>\r\nvolume = {9 (5)},<br \/>\r\npages = {175-183},<br \/>\r\nkeywords = {},<br \/>\r\npubstate = {published},<br \/>\r\ntppubtype = {article}<br \/>\r\n}<br \/>\r\n<\/pre><\/div><p class=\"tp_close_menu\"><a class=\"tp_close\" onclick=\"teachpress_pub_showhide('557','tp_bibtex')\">Close<\/a><\/p><\/div><div class=\"tp_links\" id=\"tp_links_557\" style=\"display:none;\"><div class=\"tp_links_entry\"><ul class=\"tp_pub_list\"><li><i class=\"fas fa-file-pdf\"><\/i><a class=\"tp_pub_list\" href=\"https:\/\/labs.cs.queensu.ca\/perklab\/wp-content\/uploads\/sites\/3\/2024\/02\/Boctor2003b.pdf\" title=\"https:\/\/labs.cs.queensu.ca\/perklab\/wp-content\/uploads\/sites\/3\/2024\/02\/Boctor2003[...]\" target=\"_blank\">https:\/\/labs.cs.queensu.ca\/perklab\/wp-content\/uploads\/sites\/3\/2024\/02\/Boctor2003[...]<\/a><\/li><\/ul><\/div><p class=\"tp_close_menu\"><a class=\"tp_close\" onclick=\"teachpress_pub_showhide('557','tp_links')\">Close<\/a><\/p><\/div><\/div><\/div><div class=\"tp_publication tp_publication_article\"><div class=\"tp_pub_info\"><p class=\"tp_pub_author\"> Fichtinger, Gabor;  Deguet, Anton;  Masamune, Ken;  Balogh, Emese;  Fischer, Gregory;  Mathieu, Herve;  Taylor, Russell H;  Fayad, Laura M;  Zinreich, S James<\/p><p class=\"tp_pub_title\"><a class=\"tp_title_link\" href=\"https:\/\/link.springer.com\/chapter\/10.1007\/978-3-540-30136-3_97\" title=\"https:\/\/link.springer.com\/chapter\/10.1007\/978-3-540-30136-3_97\" target=\"blank\">Needle insertion in CT scanner with image overlay\u2013cadaver studies<\/a> <span class=\"tp_pub_type tp_  article\">Journal Article<\/span> <\/p><p class=\"tp_pub_additional\"><span class=\"tp_pub_additional_in\">In: <\/span><span class=\"tp_pub_additional_pages\">pp. 795-803, <\/span><span class=\"tp_pub_additional_year\">2004<\/span>.<\/p><p class=\"tp_pub_menu\"><span class=\"tp_abstract_link\"><a id=\"tp_abstract_sh_774\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('774','tp_abstract')\" title=\"Show abstract\" style=\"cursor:pointer;\">Abstract<\/a><\/span> | <span class=\"tp_resource_link\"><a id=\"tp_links_sh_774\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('774','tp_links')\" title=\"Show links and resources\" style=\"cursor:pointer;\">Links<\/a><\/span> | <span class=\"tp_bibtex_link\"><a id=\"tp_bibtex_sh_774\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('774','tp_bibtex')\" title=\"Show BibTeX entry\" style=\"cursor:pointer;\">BibTeX<\/a><\/span><\/p><div class=\"tp_bibtex\" id=\"tp_bibtex_774\" style=\"display:none;\"><div class=\"tp_bibtex_entry\"><pre>@article{fichtinger2004d,<br \/>\r\ntitle = {Needle insertion in CT scanner with image overlay\u2013cadaver studies},<br \/>\r\nauthor = {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},<br \/>\r\nurl = {https:\/\/link.springer.com\/chapter\/10.1007\/978-3-540-30136-3_97},<br \/>\r\nyear  = {2004},<br \/>\r\ndate = {2004-01-01},<br \/>\r\npages = {795-803},<br \/>\r\npublisher = {Springer Berlin Heidelberg},<br \/>\r\nabstract = {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 \u201cX-ray vision\u201d 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.},<br \/>\r\nkeywords = {},<br \/>\r\npubstate = {published},<br \/>\r\ntppubtype = {article}<br \/>\r\n}<br \/>\r\n<\/pre><\/div><p class=\"tp_close_menu\"><a class=\"tp_close\" onclick=\"teachpress_pub_showhide('774','tp_bibtex')\">Close<\/a><\/p><\/div><div class=\"tp_abstract\" id=\"tp_abstract_774\" style=\"display:none;\"><div class=\"tp_abstract_entry\">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 \u201cX-ray vision\u201d 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.<\/div><p class=\"tp_close_menu\"><a class=\"tp_close\" onclick=\"teachpress_pub_showhide('774','tp_abstract')\">Close<\/a><\/p><\/div><div class=\"tp_links\" id=\"tp_links_774\" style=\"display:none;\"><div class=\"tp_links_entry\"><ul class=\"tp_pub_list\"><li><i class=\"fas fa-globe\"><\/i><a class=\"tp_pub_list\" href=\"https:\/\/link.springer.com\/chapter\/10.1007\/978-3-540-30136-3_97\" title=\"https:\/\/link.springer.com\/chapter\/10.1007\/978-3-540-30136-3_97\" target=\"_blank\">https:\/\/link.springer.com\/chapter\/10.1007\/978-3-540-30136-3_97<\/a><\/li><\/ul><\/div><p class=\"tp_close_menu\"><a class=\"tp_close\" onclick=\"teachpress_pub_showhide('774','tp_links')\">Close<\/a><\/p><\/div><\/div><\/div><div class=\"tp_publication tp_publication_article\"><div class=\"tp_pub_info\"><p class=\"tp_pub_author\"> Boctor, Emad;  Webster, Robert;  Mathieu, Herve;  Okamura, Allison;  Fichtinger, Gabor<\/p><p class=\"tp_pub_title\"><a class=\"tp_title_link\" href=\"https:\/\/dx.doi.org\/10 1080\/10929080500097661\" title=\"Virtual remote center of motion control for needle placement robots\" target=\"blank\">Virtual remote center of motion control for needle placement robots<\/a> <span class=\"tp_pub_type tp_  article\">Journal Article<\/span> <\/p><p class=\"tp_pub_additional\"><span class=\"tp_pub_additional_in\">In: <\/span><span class=\"tp_pub_additional_journal\">Journal of Computer Aided Surgery, <\/span><span class=\"tp_pub_additional_volume\">vol. 9, <\/span><span class=\"tp_pub_additional_number\">no. 5, <\/span><span class=\"tp_pub_additional_pages\">pp. 175\u2013183, <\/span><span class=\"tp_pub_additional_year\">2003<\/span>.<\/p><p class=\"tp_pub_menu\"><span class=\"tp_abstract_link\"><a id=\"tp_abstract_sh_569\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('569','tp_abstract')\" title=\"Show abstract\" style=\"cursor:pointer;\">Abstract<\/a><\/span> | <span class=\"tp_resource_link\"><a id=\"tp_links_sh_569\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('569','tp_links')\" title=\"Show links and resources\" style=\"cursor:pointer;\">Links<\/a><\/span> | <span class=\"tp_bibtex_link\"><a id=\"tp_bibtex_sh_569\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('569','tp_bibtex')\" title=\"Show BibTeX entry\" style=\"cursor:pointer;\">BibTeX<\/a><\/span><\/p><div class=\"tp_bibtex\" id=\"tp_bibtex_569\" style=\"display:none;\"><div class=\"tp_bibtex_entry\"><pre>@article{Boctor2003b,<br \/>\r\ntitle = {Virtual remote center of motion control for needle placement robots},<br \/>\r\nauthor = {Emad Boctor and Robert Webster and Herve Mathieu and Allison Okamura and Gabor Fichtinger},<br \/>\r\nurl = {http:\/\/dx doi org\/10 1080\/10929080500097661},<br \/>\r\ndoi = {10 1080\/10929080500097661},<br \/>\r\nyear  = {2003},<br \/>\r\ndate = {2003-01-01},<br \/>\r\njournal = {Journal of Computer Aided Surgery},<br \/>\r\nvolume = {9},<br \/>\r\nnumber = {5},<br \/>\r\npages = {175\u2013183},<br \/>\r\nabstract = {&lt;p&gt;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&lt;\/p&gt;},<br \/>\r\nkeywords = {},<br \/>\r\npubstate = {published},<br \/>\r\ntppubtype = {article}<br \/>\r\n}<br \/>\r\n<\/pre><\/div><p class=\"tp_close_menu\"><a class=\"tp_close\" onclick=\"teachpress_pub_showhide('569','tp_bibtex')\">Close<\/a><\/p><\/div><div class=\"tp_abstract\" id=\"tp_abstract_569\" style=\"display:none;\"><div class=\"tp_abstract_entry\">&lt;p&gt;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&lt;\/p&gt;<\/div><p class=\"tp_close_menu\"><a class=\"tp_close\" onclick=\"teachpress_pub_showhide('569','tp_abstract')\">Close<\/a><\/p><\/div><div class=\"tp_links\" id=\"tp_links_569\" style=\"display:none;\"><div class=\"tp_links_entry\"><ul class=\"tp_pub_list\"><li><i class=\"fas fa-globe\"><\/i><a class=\"tp_pub_list\" href=\"http:\/\/dx doi org\/10 1080\/10929080500097661\" title=\"http:\/\/dx doi org\/10 1080\/10929080500097661\" target=\"_blank\">http:\/\/dx doi org\/10 1080\/10929080500097661<\/a><\/li><li><i class=\"ai ai-doi\"><\/i><a class=\"tp_pub_list\" href=\"https:\/\/dx.doi.org\/10 1080\/10929080500097661\" title=\"Follow DOI:10 1080\/10929080500097661\" target=\"_blank\">doi:10 1080\/10929080500097661<\/a><\/li><\/ul><\/div><p class=\"tp_close_menu\"><a class=\"tp_close\" onclick=\"teachpress_pub_showhide('569','tp_links')\">Close<\/a><\/p><\/div><\/div><\/div><div class=\"tp_publication tp_publication_conference\"><div class=\"tp_pub_info\"><p class=\"tp_pub_author\"> Masamune, Ken;  Degeut, Anton;  Mathieu, Herve;  Zinreich, James;  Taylor, Russell H.;  Sauer, Frank;  Fichtinger, Gabor<\/p><p class=\"tp_pub_title\"><a class=\"tp_title_link\" href=\"https:\/\/labs.cs.queensu.ca\/perklab\/wp-content\/uploads\/sites\/3\/2024\/02\/Masamune2003.pdf\" title=\"https:\/\/labs.cs.queensu.ca\/perklab\/wp-content\/uploads\/sites\/3\/2024\/02\/Masamune2003.pdf\" target=\"blank\">An Enhanced Reality System for Percutaneous needle placement Therapy inside X-ray CT Scanner<\/a> <span class=\"tp_pub_type tp_  conference\">Conference<\/span> <\/p><p class=\"tp_pub_additional\"><span class=\"tp_pub_additional_booktitle\">ARCS - Workshop on Augmented Reality in Computer Aided Surgery, <\/span><span class=\"tp_pub_additional_year\">2003<\/span>.<\/p><p class=\"tp_pub_menu\"><span class=\"tp_resource_link\"><a id=\"tp_links_sh_559\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('559','tp_links')\" title=\"Show links and resources\" style=\"cursor:pointer;\">Links<\/a><\/span> | <span class=\"tp_bibtex_link\"><a id=\"tp_bibtex_sh_559\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('559','tp_bibtex')\" title=\"Show BibTeX entry\" style=\"cursor:pointer;\">BibTeX<\/a><\/span><\/p><div class=\"tp_bibtex\" id=\"tp_bibtex_559\" style=\"display:none;\"><div class=\"tp_bibtex_entry\"><pre>@conference{Masamune2003,<br \/>\r\ntitle = {An Enhanced Reality System for Percutaneous needle placement Therapy inside X-ray CT Scanner},<br \/>\r\nauthor = {Ken Masamune and Anton Degeut and Herve Mathieu and James Zinreich and Russell H. Taylor and Frank Sauer and Gabor Fichtinger},<br \/>\r\nurl = {https:\/\/labs.cs.queensu.ca\/perklab\/wp-content\/uploads\/sites\/3\/2024\/02\/Masamune2003.pdf},<br \/>\r\nyear  = {2003},<br \/>\r\ndate = {2003-01-01},<br \/>\r\nurldate = {2003-01-01},<br \/>\r\nbooktitle = {ARCS - Workshop on Augmented Reality in Computer Aided Surgery},<br \/>\r\npages = {83},<br \/>\r\nkeywords = {},<br \/>\r\npubstate = {published},<br \/>\r\ntppubtype = {conference}<br \/>\r\n}<br \/>\r\n<\/pre><\/div><p class=\"tp_close_menu\"><a class=\"tp_close\" onclick=\"teachpress_pub_showhide('559','tp_bibtex')\">Close<\/a><\/p><\/div><div class=\"tp_links\" id=\"tp_links_559\" style=\"display:none;\"><div class=\"tp_links_entry\"><ul class=\"tp_pub_list\"><li><i class=\"fas fa-file-pdf\"><\/i><a class=\"tp_pub_list\" href=\"https:\/\/labs.cs.queensu.ca\/perklab\/wp-content\/uploads\/sites\/3\/2024\/02\/Masamune2003.pdf\" title=\"https:\/\/labs.cs.queensu.ca\/perklab\/wp-content\/uploads\/sites\/3\/2024\/02\/Masamune20[...]\" target=\"_blank\">https:\/\/labs.cs.queensu.ca\/perklab\/wp-content\/uploads\/sites\/3\/2024\/02\/Masamune20[...]<\/a><\/li><\/ul><\/div><p class=\"tp_close_menu\"><a class=\"tp_close\" onclick=\"teachpress_pub_showhide('559','tp_links')\">Close<\/a><\/p><\/div><\/div><\/div><div class=\"tp_publication tp_publication_article\"><div class=\"tp_pub_info\"><p class=\"tp_pub_author\"> Boctor, Emad M;  Webster, Robert J;  Mathieu, Herve;  Okamura, Allison M;  Fichtinger, Gabor<\/p><p class=\"tp_pub_title\"><a class=\"tp_title_link\" href=\"https:\/\/scholar.google.com\/scholar?cluster=6454687239002455739&amp;hl=en&amp;oi=scholarr\" title=\"https:\/\/scholar.google.com\/scholar?cluster=6454687239002455739&amp;hl=en&amp;oi=scholarr\" target=\"blank\">LNCS 2878: MICCAI 2003 Proceedings, Part I-Robotic Mechanism ans Mechanical Properties of Tissue-Virtual Remote Center of Motion Control for Needle Placement Robots<\/a> <span class=\"tp_pub_type tp_  article\">Journal Article<\/span> <\/p><p class=\"tp_pub_additional\"><span class=\"tp_pub_additional_in\">In: <\/span><span class=\"tp_pub_additional_journal\">Lecture Notes in Computer Science, <\/span><span class=\"tp_pub_additional_volume\">vol. 2878, <\/span><span class=\"tp_pub_additional_pages\">pp. 157-164, <\/span><span class=\"tp_pub_additional_year\">2003<\/span>.<\/p><p class=\"tp_pub_menu\"><span class=\"tp_resource_link\"><a id=\"tp_links_sh_982\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('982','tp_links')\" title=\"Show links and resources\" style=\"cursor:pointer;\">Links<\/a><\/span> | <span class=\"tp_bibtex_link\"><a id=\"tp_bibtex_sh_982\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('982','tp_bibtex')\" title=\"Show BibTeX entry\" style=\"cursor:pointer;\">BibTeX<\/a><\/span><\/p><div class=\"tp_bibtex\" id=\"tp_bibtex_982\" style=\"display:none;\"><div class=\"tp_bibtex_entry\"><pre>@article{fichtinger2003f,<br \/>\r\ntitle = {LNCS 2878: MICCAI 2003 Proceedings, Part I-Robotic Mechanism ans Mechanical Properties of Tissue-Virtual Remote Center of Motion Control for Needle Placement Robots},<br \/>\r\nauthor = {Emad M Boctor and Robert J Webster and Herve Mathieu and Allison M Okamura and Gabor Fichtinger},<br \/>\r\nurl = {https:\/\/scholar.google.com\/scholar?cluster=6454687239002455739&hl=en&oi=scholarr},<br \/>\r\nyear  = {2003},<br \/>\r\ndate = {2003-01-01},<br \/>\r\njournal = {Lecture Notes in Computer Science},<br \/>\r\nvolume = {2878},<br \/>\r\npages = {157-164},<br \/>\r\npublisher = {Berlin: Springer-Verlag, 1973-},<br \/>\r\nkeywords = {},<br \/>\r\npubstate = {published},<br \/>\r\ntppubtype = {article}<br \/>\r\n}<br \/>\r\n<\/pre><\/div><p class=\"tp_close_menu\"><a class=\"tp_close\" onclick=\"teachpress_pub_showhide('982','tp_bibtex')\">Close<\/a><\/p><\/div><div class=\"tp_links\" id=\"tp_links_982\" style=\"display:none;\"><div class=\"tp_links_entry\"><ul class=\"tp_pub_list\"><li><i class=\"fas fa-globe\"><\/i><a class=\"tp_pub_list\" href=\"https:\/\/scholar.google.com\/scholar?cluster=6454687239002455739&amp;hl=en&amp;oi=scholarr\" title=\"https:\/\/scholar.google.com\/scholar?cluster=6454687239002455739&amp;hl=en&amp;oi=[...]\" target=\"_blank\">https:\/\/scholar.google.com\/scholar?cluster=6454687239002455739&amp;hl=en&amp;oi=[...]<\/a><\/li><\/ul><\/div><p class=\"tp_close_menu\"><a class=\"tp_close\" onclick=\"teachpress_pub_showhide('982','tp_links')\">Close<\/a><\/p><\/div><\/div><\/div><\/div><\/div><\/div>\n","protected":false},"featured_media":0,"template":"","meta":{"_acf_changed":false,"_uag_custom_page_level_css":"","site-sidebar-layout":"default","site-content-layout":"","ast-site-content-layout":"default","site-content-style":"default","site-sidebar-style":"default","ast-global-header-display":"","ast-banner-title-visibility":"","ast-main-header-display":"","ast-hfb-above-header-display":"","ast-hfb-below-header-display":"","ast-hfb-mobile-header-display":"","site-post-title":"","ast-breadcrumbs-content":"","ast-featured-img":"","footer-sml-layout":"","ast-disable-related-posts":"","theme-transparent-header-meta":"","adv-header-id-meta":"","stick-header-meta":"","header-above-stick-meta":"","header-main-stick-meta":"","header-below-stick-meta":"","astra-migrate-meta-layouts":"default","ast-page-background-enabled":"default","ast-page-background-meta":{"desktop":{"background-color":"var(--ast-global-color-4)","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""},"tablet":{"background-color":"","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""},"mobile":{"background-color":"","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""}},"ast-content-background-meta":{"desktop":{"background-color":"var(--ast-global-color-5)","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""},"tablet":{"background-color":"var(--ast-global-color-5)","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""},"mobile":{"background-color":"var(--ast-global-color-5)","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""}},"footnotes":""},"class_list":["post-2418","qsc_member","type-qsc_member","status-publish","hentry"],"acf":[],"spectra_custom_meta":{"field_qsc_member_acf_email":[""],"_field_qsc_member_acf_email":["qsc_member_acf_email"],"qsc_member_acf_position":["Postdoctoral Fellow"],"_qsc_member_acf_position":["field_qsc_member_acf_position"],"qsc_member_acf_department":[""],"_qsc_member_acf_department":["field_qsc_member_acf_department"],"field_qsc_member_acf_organization":["Johns Hopkins University"],"_field_qsc_member_acf_organization":["qsc_member_acf_organization"],"field_qsc_member_acf_linkedin":[""],"_field_qsc_member_acf_linkedin":["qsc_member_acf_linkedin"],"field_qsc_member_acf_gscholar":[""],"_field_qsc_member_acf_gscholar":["qsc_member_acf_gscholar"],"field_qsc_member_acf_github":[""],"_field_qsc_member_acf_github":["qsc_member_acf_github"],"field_qsc_member_acf_researchgate":[""],"_field_qsc_member_acf_researchgate":["qsc_member_acf_researchgate"],"field_qsc_member_acf_web":[""],"_field_qsc_member_acf_web":["qsc_member_acf_web"],"field_qsc_member_acf_program_status":["Past"],"_field_qsc_member_acf_program_status":["qsc_member_acf_program_status"],"field_qsc_member_acf_start_year":["2001"],"_field_qsc_member_acf_start_year":["qsc_member_acf_start_year"],"field_qsc_member_acf_end_year":["2002"],"_field_qsc_member_acf_end_year":["qsc_member_acf_end_year"],"_uag_css_file_name":["uag-css-2418.css"],"_uag_page_assets":["a:9:{s:3:\"css\";s:263:\".uag-blocks-common-selector{z-index:var(--z-index-desktop) !important}@media (max-width: 976px){.uag-blocks-common-selector{z-index:var(--z-index-tablet) !important}}@media (max-width: 767px){.uag-blocks-common-selector{z-index:var(--z-index-mobile) !important}}\n\";s:2:\"js\";s:0:\"\";s:18:\"current_block_list\";a:7:{i:0;s:11:\"core\/search\";i:1;s:10:\"core\/group\";i:2;s:12:\"core\/heading\";i:3;s:17:\"core\/latest-posts\";i:4;s:20:\"core\/latest-comments\";i:5;s:13:\"core\/archives\";i:6;s:15:\"core\/categories\";}s:8:\"uag_flag\";b:0;s:11:\"uag_version\";s:10:\"1771033544\";s:6:\"gfonts\";a:0:{}s:10:\"gfonts_url\";s:0:\"\";s:12:\"gfonts_files\";a:0:{}s:14:\"uag_faq_layout\";b:0;}"]},"uagb_featured_image_src":{"full":false,"thumbnail":false,"medium":false,"medium_large":false,"large":false,"1536x1536":false,"2048x2048":false},"uagb_author_info":{"display_name":"Doug Martin","author_link":"https:\/\/labs.cs.queensu.ca\/perklab\/author\/"},"uagb_comment_info":0,"uagb_excerpt":"Herve Mathieu Postdoctoral Fellow Johns Hopkins University Member from 2001 to 2002 Fichtinger, Gabor; Degeut, Anton; Masamune, Ken; Balogh, Emese; Fischer, Gregory; Mathieu, Herve; Taylor, Russell H.; Zinreich, James; Fayad, LauraImage overlay guidance for needle insertion in CT scanner Journal Article In: IEEE transactions on biomedical engineering, vol. 52, no. 8, pp. 1415\u20131424, 2005.Links |&hellip;","_links":{"self":[{"href":"https:\/\/labs.cs.queensu.ca\/perklab\/wp-json\/wp\/v2\/qsc_member\/2418","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/labs.cs.queensu.ca\/perklab\/wp-json\/wp\/v2\/qsc_member"}],"about":[{"href":"https:\/\/labs.cs.queensu.ca\/perklab\/wp-json\/wp\/v2\/types\/qsc_member"}],"version-history":[{"count":0,"href":"https:\/\/labs.cs.queensu.ca\/perklab\/wp-json\/wp\/v2\/qsc_member\/2418\/revisions"}],"wp:attachment":[{"href":"https:\/\/labs.cs.queensu.ca\/perklab\/wp-json\/wp\/v2\/media?parent=2418"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}