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      • Faculty of Engineering
      • Department of Electrical and Electronics Engineering
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      Design of a novel MRI compatible manipulator for image guided prostate interventions

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      Author(s)
      Krieger, A.
      Susil, R. C.
      Ménard, C.
      Coleman, J. A.
      Fichtinger, G.
      Atalar, Ergin
      Whitcomb, L. L.
      Date
      2005-02
      Source Title
      IEEE Transactions on Biomedical Engineering
      Print ISSN
      0018-9294
      Publisher
      IEEE
      Volume
      52
      Issue
      2
      Pages
      306 - 313
      Language
      English
      Type
      Article
      Item Usage Stats
      186
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      175
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      Abstract
      This paper reports a novel remotely actuated manipulator for access to prostate tissue under magnetic resonance imaging guidance (APT-MRI) device, designed for use in a standard high-field MRI scanner. The device provides three-dimensional MRI guided needle placement with millimeter accuracy under physician control. Procedures enabled by this device include MRI guided needle biopsy, fiducial marker placements, and therapy delivery. Its compact size allows for use in both standard cylindrical and open configuration MRI scanners. Preliminary in vivo canine experiments and first clinical trials are reported.
      Keywords
      Biomedical imaging
      Cancer
      Magnetic resonance imaging
      Medical diagnosis
      Medical treatment
      Marker
      Needle biopsy
      Prostate tissues
      Therapy delivery
      Biological organs
      Biopsy
      Image analysis
      Magnetic resonance imaging
      Scanning
      Three dimensional
      Tissue
      Manipulators
      Animal experiment
      Animal model
      Article
      Computer aided design
      Device
      Diagnostic accuracy
      Diagnostic imaging
      Dog
      Male
      Needle biopsy
      Nonhuman
      Nuclear magnetic resonance imaging
      Prostate cancer
      Three dimensional imaging
      Animals
      Biopsy, Needle
      Dogs
      Equipment Design
      Equipment Failure Analysis
      Feasibility Studies
      Imaging, Three-Dimensional
      Magnetic Resonance Imaging
      Male
      Micromanipulation
      Prostate
      Reproducibility of Results
      Robotics
      Sensitivity and Specificity
      Surgery, Computer-Assisted
      Permalink
      http://hdl.handle.net/11693/24118
      Published Version (Please cite this version)
      https://doi.org/10.1109/TBME.2004.840497
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      • Department of Electrical and Electronics Engineering 3702
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