@article {1371,
	title = {Robotically assisted prostate brachytherapy with transrectal ultrasound guidance - Phantom experiments},
	journal = {BRACHYTHERAPY},
	volume = {5},
	year = {2006},
	note = {ScopusID: 33645102079doi: 10.1016/j.brachy.2005.10.003},
	month = {2006},
	pages = {14 - 26},
	abstract = {PURPOSE: To report the preliminary experimental results obtained with a robot-assisted transrectal ultrasound (TRUS)-guided prostate brachytherapy system. METHODS AND MATERIALS: The system consists of a TRUS unit, a spatially coregistered needle insertion robot, and an FDA-approved treatment planning and image-registered implant system. The robot receives each entry/target coordinate pair of the implant plan, inserts a preloaded needle, and then the seeds are deposited. The needles/sources are tracked in TRUS, thus allowing the plan to be updated as the procedure progresses. RESULTS: The first insertion attempt was recorded for each needle, without adjustment. All clinically relevant locations were reached in a prostate phantom. Nonparallel and parallel needle trajectories were demonstrated. Based on TRUS, the average transverse placement error was 2 mm (worst case 2.5 mm, 80\% less than 2 mm), and the average sagittal error was 2.5 mm (worst case 5.0 mm, 70\% less than 2.5 mm). CONCLUSIONS: The concept and technical viability of robot-assisted brachytherapy were demonstrated in phantoms. The kinematically decoupled robotic assistant device is inherently safe. Overall performance was promising, but further optimization is necessary to prove the possibility of improved dosimetry. {\textcopyright} 2006 American Brachytherapy Society. All rights reserved.},
	isbn = {1538-4721},
	author = {G{\'a}bor Fichtinger and Everette C Burdette and Attila Tanacs and Alexandru Patriciu and Dumitru Mazilu and Louis L Whitcomb and Dan Stoianovici}
}
@article {1381,
	title = {Po-topic IV-05: Prostate biopsy and local therapy inside conventional closed mri with robotic assistance - animal studies},
	journal = {ACADEMIC RADIOLOGY},
	volume = {10},
	year = {2003},
	month = {2003},
	pages = {955},
	isbn = {1076-6332},
	author = {G{\'a}bor Fichtinger and Robert C Susil and Axel Krieger and Attila Tanacs and Louis L Whitcomb and Ergin Atalar}
}
@article {1379,
	title = {System for MR image-guided prostate interventions: Canine study},
	journal = {RADIOLOGY},
	volume = {228},
	year = {2003},
	note = {ScopusID: 0042430628doi: 10.1148/radiol.2283020911Tradenames: CV/i, GE Medical Systems, United StatesManufacturers: Sigma Aldrich, United StatesGE Medical Systems, 
United States
},
	month = {2003},
	pages = {886 - 894},
	abstract = {The purpose of this study was to demonstrate the use of a transrectal system that enables precise magnetic resonance (MR) image guidance and monitoring of prostate interventions. The system used a closed-bore 1.5-T MR imaging unit and enables one to take advantage of the higher signal-to-noise ratio achieved with traditional magnet designs, which is crucial for accurate targeting and monitoring of prostate interventions. In the first of the four canine studies, reliable needle placement, with all needles placed within 2 mm of the desired target site, was achieved. In two other studies, MR imaging was used to monitor distribution of injected contrast agent solution (gadopentetate dimeglumine mixed with trypan blue dye) in and around the prostate, thereby confirming that solution had been delivered to the desired tissue and also detecting faulty injections. In the final study, accurate placement and MR imaging of brachytherapy seeds in the prostate were demonstrated. The described system provides a flexible platform for a variety of minimally invasive MR image-guided therapeutic and diagnostic prostate interventions. {\textcopyright} RSNA, 2003.},
	isbn = {0033-8419},
	author = {Robert C Susil and Axel Krieger and A J Derbyshire and Attila Tanacs and Louis L Whitcomb and G{\'a}bor Fichtinger and Ergin Atalar}
}
@article {1374,
	title = {System for robotically assisted prostate biopsy and therapy with intraoperative CT guidance},
	journal = {ACADEMIC RADIOLOGY},
	volume = {9},
	year = {2002},
	note = {ScopusID: 0036184964doi: 10.1016/S1076-6332(03)80297-0Tradenames: Neuromate robot, Integrated Surgical Systems, United StatesManufacturers: Integrated Surgical Systems, United States
},
	month = {2002},
	pages = {60 - 74},
	abstract = {Rationale and Objectives. The purpose of this study was to assess the work-in-progress prototype of an image-guided, robotic system for accurate and consistent placement of transperineal needles into the prostate with intraoperative image guidance inside the gantry of a computed tomographic (CT) scanner. Materials and Methods. The coach-mounted system consists of a seven-degrees-of-freedom, passive mounting arm; a remote-center-of-motion robot; and a motorized, radiolucent needle-insertion device to deliver 17-18-gauge implant and biopsy needles into the prostate with the transperineal route. The robot is registered to the image space with a stereotactic adapter. The surgeon plans and controls the intervention in the CT scanner room with a desktop computer that receives DICOM images from the CT scanner. The complete system fits in a carry-on suitcase, does not need calibration, and does not utilize vendor-specific features of the CT scanner. Results. In open air, the average accuracy was better than 1 mm at a 5-8-cm depth. In various phantoms, the average orientation error was 1.3{\textdegree}, and the average distance between the needle tip and the target was 2 mm. Conclusion. Results of preliminary experiments indicate that this robotic system may be suitable for transperineal needle placement into the prostate and shows potential in a variety of other percutaneous clinical applications.},
	isbn = {1076-6332},
	author = {G{\'a}bor Fichtinger and Theodore L. DeWeese and Alexandru Patriciu and Attila Tanacs and Dumitru Mazilu and James H Anderson and Ken Masamune and Russel H Taylor and Dan Stoianovici}
}
@inbook {1380,
	title = {Transrectal prostate biopsy inside closed MRI scanner with remote actuation, under real-time image guidance},
	booktitle = {MEDICAL IMAGE COMPUTING AND COMPUTER-ASSISTED INTERVENTION-MICCAI 2002, PT 1},
	year = {2002},
	note = {UT: 000189412100012BE: Dohi, T: Kikinis, R
5th International Conference on Medical Image Computing and
: Computer-Assisted Intervention
SEP 25-28, 2002
TOKYO, JAPAN
Z9: 26
WC: Computer Science, Theory \& Methods
Hi{\'a}nyz{\'o} Besorol{\'a}s: {\textquoteright}Article; Proceedings Paper{\textquoteright},25,0
$\#$K{\"o}nyv Kiad{\'a}s helye ismeretlen
},
	month = {2002},
	pages = {91 - 98},
	publisher = {Springer Verlag},
	organization = {Springer Verlag},
	address = {Tokyo},
	abstract = {We present the proof-of-concept prototype of a prostate biopsyrobot to be used inside a conventional high-field MRI scanner. A 
three degree-of-freedom (DOF) mechanical device translates and 
rotates inside the rectum and enters a needle into the body, and 
steers the needle to a target point pre-selected by the user. 
The device is guided by real-time images from the scanner. 
Networked computers process the medical images and enable the 
clinician to control the motion of the mechanical device that is 
operated remotely from outside the imager. The system is also 
applicable to localized prostate therapy and also demonstrates 
potential in other intra-cavitary procedures.
},
	author = {G{\'a}bor Fichtinger and Axel Krieger and Robert C Susil and Attila Tanacs and Louis L Whitcomb and Ergin Atalar},
	editor = {Takeyoshi Dohi and Ron Kikinis}
}
@inbook {1382,
	title = {Approximate Volumetric Reconstruction from Projected Images},
	booktitle = {Medical Image Computing and Computer-Assisted Intervention - MICCAI 2001, 4th International Conference},
	year = {2001},
	note = {doi: 10.1007/3-540-45468-3_235},
	month = {2001},
	pages = {1376 - 1378},
	publisher = {Springer Verlag},
	organization = {Springer Verlag},
	address = {Utrecht},
	author = {G{\'a}bor Fichtinger and Seng Xu and Attila Tanacs and Kieran Murphy and L Myers and Jeffrey Williams},
	editor = {Wiro J Niessen and Max A Viergever}
}
