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

@article{DiMaio2007RobotassistedNP,
  title={Robot-assisted needle placement in open MRI: system architecture, integration and validation.},
  author={Simon P. DiMaio and Steve Pieper and Kiyoyuki Chinzei and Nobuhiko Hata and Steven Haker and Daniel F. Kacher and Gabor Fichtinger and Clare M. Tempany and Ron Kikinis},
  journal={Computer aided surgery : official journal of the International Society for Computer Aided Surgery},
  year={2007},
  volume={12 1},
  pages={15-24}
}
In prostate cancer treatment, there is a move toward targeted interventions for biopsy and therapy, which has precipitated the need for precise image-guided methods for needle placement. This paper describes an integrated system for planning and performing percutaneous procedures with robotic assistance under MRI guidance. A graphical planning interface allows the physician to specify the set of desired needle trajectories, based on anatomical structures and lesions observed in the patient's… CONTINUE READING

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