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Robot-assisted needle placement in open MRI: System architecture, integration and validation

S. P. DiMaio, S. Pieper, K. Chinzei, N. Hata, S. J. Haker, D. F. Kacher, G. Fichtinger, C. M. Tempany, R. Kikinis
2007 Journal of Computer-Aided Surgery  
This work describes an integrated system for planning and performing percutaneous procedures-such as prostate biopsy-with robotic assistance under MRI-guidance.  ...  All image-space coordinates are automatically computed, and used to position a needle guide by means of an MRI-compatible robotic manipulator, thus avoiding the limitations of the traditional fixed needle  ...  We would like to thank Dan Kacher and Janice Fairhurst for scanning assistance, and Mike McKenna for assistance with Slicer programming.  ... 
doi:10.3109/10929080601168254 pmid:17364655 fatcat:hc2bzmlm6vbmrbddznsgqtbzku

2019 Index IEEE Robotics and Automation Letters Vol. 4

2019 IEEE Robotics and Automation Letters  
., +, LRA July 2019 2547-2552 A Testbed for Haptic and Magnetic Resonance Imaging-Guided Percutaneous Needle Biopsy.  ...  ., +, LRA April 2019 997-1004 Hydrostatics A Testbed for Haptic and Magnetic Resonance Imaging-Guided Percutaneous Needle Biopsy.  ...  Permanent magnets Adaptive Dynamic Control for Magnetically Actuated Medical Robots.  ... 
doi:10.1109/lra.2019.2955867 fatcat:ckastwefh5chhamsravandtnx4

Tissue mimicking materials for imaging and therapy phantoms: a review

Conor K McGarry, Lesley J Grattan, Aoife M Ivory, Francesca Leek, Gary P Liney, Yang Liu, Piero Miloro, Robba Rai, Andrew Robinson, Albert J Shih, Bajram Zeqiri, Catharine H Clark
2020 Physics in Medicine and Biology  
Materials used within phantoms have been reviewed for a series of imaging and therapeutic applications with the potential to become a testbed for cross-fertilization of materials across modalities.  ...  The emergence of image guided interventions and multimodality imaging have placed an increasing demand on the number of specifications on the latest TMMs.  ...  Acknowledgments This work was supported by the National Measurement System of the UK's Department for Business, Energy and Industrial Strategy.  ... 
doi:10.1088/1361-6560/abbd17 pmid:32998112 fatcat:fhrfsgdbhjadrj6p5cyt5bhw6q