Int J Comput Assist Radiol Surg - Robotic system for MRI-guided prostate biopsy: feasibility of teleoperated needle insertion and ex vivo phantom study.

Tópicos

{ imag(1057) registr(996) error(939) }
{ imag(2675) segment(2577) method(1081) }
{ surgeri(1148) surgic(1085) robot(1054) }
{ visual(1396) interact(850) tool(830) }
{ medic(1828) order(1363) alert(1069) }
{ drug(1928) target(777) effect(648) }
{ chang(1828) time(1643) increas(1301) }
{ perform(1367) use(1326) method(1137) }
{ data(2317) use(1299) case(1017) }
{ time(1939) patient(1703) rate(768) }
{ patient(1821) servic(1111) care(1106) }
{ method(2212) result(1239) propos(1039) }
{ decis(3086) make(1611) patient(1517) }
{ patient(2315) diseas(1263) diabet(1191) }
{ learn(2355) train(1041) set(1003) }
{ clinic(1479) use(1117) guidelin(835) }
{ algorithm(1844) comput(1787) effici(935) }
{ design(1359) user(1324) use(1319) }
{ care(1570) inform(1187) nurs(1089) }
{ general(901) number(790) one(736) }
{ featur(1941) imag(1645) propos(1176) }
{ risk(3053) factor(974) diseas(938) }
{ model(2341) predict(2261) use(1141) }
{ studi(1119) effect(1106) posit(819) }
{ model(3480) simul(1196) paramet(876) }
{ group(2977) signific(1463) compar(1072) }
{ sampl(1606) size(1419) use(1276) }
{ cancer(2502) breast(956) screen(824) }
{ use(976) code(926) identifi(902) }
{ use(1733) differ(960) four(931) }
{ implement(1333) system(1263) develop(1122) }
{ process(1125) use(805) approach(778) }
{ model(3404) distribut(989) bayesian(671) }
{ can(774) often(719) complex(702) }
{ imag(1947) propos(1133) code(1026) }
{ data(1737) use(1416) pattern(1282) }
{ inform(2794) health(2639) internet(1427) }
{ system(1976) rule(880) can(841) }
{ measur(2081) correl(1212) valu(896) }
{ bind(1733) structur(1185) ligand(1036) }
{ sequenc(1873) structur(1644) protein(1328) }
{ method(1219) similar(1157) match(930) }
{ featur(3375) classif(2383) classifi(1994) }
{ imag(2830) propos(1344) filter(1198) }
{ network(2748) neural(1063) input(814) }
{ take(945) account(800) differ(722) }
{ studi(2440) review(1878) systemat(933) }
{ motion(1329) object(1292) video(1091) }
{ assess(1506) score(1403) qualiti(1306) }
{ treatment(1704) effect(941) patient(846) }
{ framework(1458) process(801) describ(734) }
{ problem(2511) optim(1539) algorithm(950) }
{ error(1145) method(1030) estim(1020) }
{ concept(1167) ontolog(924) domain(897) }
{ extract(1171) text(1153) clinic(932) }
{ method(1557) propos(1049) approach(1037) }
{ data(1714) softwar(1251) tool(1186) }
{ control(1307) perform(991) simul(935) }
{ model(2220) cell(1177) simul(1124) }
{ method(984) reconstruct(947) comput(926) }
{ search(2224) databas(1162) retriev(909) }
{ case(1353) use(1143) diagnosi(1136) }
{ howev(809) still(633) remain(590) }
{ data(3963) clinic(1234) research(1004) }
{ studi(1410) differ(1259) use(1210) }
{ perform(999) metric(946) measur(919) }
{ research(1085) discuss(1038) issu(1018) }
{ system(1050) medic(1026) inform(1018) }
{ import(1318) role(1303) understand(862) }
{ compound(1573) activ(1297) structur(1058) }
{ blood(1257) pressur(1144) flow(957) }
{ spatial(1525) area(1432) region(1030) }
{ record(1888) medic(1808) patient(1693) }
{ health(3367) inform(1360) care(1135) }
{ monitor(1329) mobil(1314) devic(1160) }
{ ehr(2073) health(1662) electron(1139) }
{ state(1844) use(1261) util(961) }
{ research(1218) medic(880) student(794) }
{ patient(2837) hospit(1953) medic(668) }
{ model(2656) set(1616) predict(1553) }
{ age(1611) year(1155) adult(843) }
{ signal(2180) analysi(812) frequenc(800) }
{ cost(1906) reduc(1198) effect(832) }
{ gene(2352) biolog(1181) express(1162) }
{ data(3008) multipl(1320) sourc(1022) }
{ first(2504) two(1366) second(1323) }
{ intervent(3218) particip(2042) group(1664) }
{ activ(1138) subject(705) human(624) }
{ use(2086) technolog(871) perceiv(783) }
{ can(981) present(881) function(850) }
{ analysi(2126) use(1163) compon(1037) }
{ health(1844) social(1437) communiti(874) }
{ structur(1116) can(940) graph(676) }
{ high(1669) rate(1365) level(1280) }
{ result(1111) use(1088) new(759) }
{ survey(1388) particip(1329) question(1065) }
{ estim(2440) model(1874) function(577) }
{ activ(1452) weight(1219) physic(1104) }
{ method(1969) cluster(1462) data(1082) }
{ detect(2391) sensit(1101) algorithm(908) }

Resumo

RPOSE: Magnetic Resonance Imaging (MRI) combined with robotic assistance has the potential to improve on clinical outcomes of biopsy and local treatment of prostate cancer.METHODS: We report the workspace optimization and phantom evaluation of a five Degree of Freedom (DOF) parallel pneumatically actuated modular robot for MRI-guided prostate biopsy. To shorten procedure time and consequently increase patient comfort and system accuracy, a prototype of a MRI-compatible master-slave needle driver module using piezo motors was also added to the base robot.RESULTS: Variable size workspace was achieved using appropriate link length, compared with the previous design. The 5-DOF targeting accuracy demonstrated an average error of 2.5?mm (STD?=?1.37?mm) in a realistic phantom inside a 3T magnet with a bevel-tip 18G needle. The average position tracking error of the master-slave needle driver was always below 0.1?mm.CONCLUSION: Phantom experiments showed sufficient accuracy for manual prostate biopsy. Also, the implementation of teleoperated needle insertion was feasible and accurate. These two together suggest the feasibility of accurate fully actuated needle placement into prostate while keeping the clinician supervision over the task.

Resumo Limpo

rpose magnet reson imag mri combin robot assist potenti improv clinic outcom biopsi local treatment prostat cancermethod report workspac optim phantom evalu five degre freedom dof parallel pneumat actuat modular robot mriguid prostat biopsi shorten procedur time consequ increas patient comfort system accuraci prototyp mricompat masterslav needl driver modul use piezo motor also ad base robotresult variabl size workspac achiev use appropri link length compar previous design dof target accuraci demonstr averag error mm stdmm realist phantom insid t magnet beveltip g needl averag posit track error masterslav needl driver alway mmconclus phantom experi show suffici accuraci manual prostat biopsi also implement teleoper needl insert feasibl accur two togeth suggest feasibl accur fulli actuat needl placement prostat keep clinician supervis task

Resumos Similares

Int J Comput Assist Radiol Surg - Multi-slice-to-volume registration for MRI-guided transperineal prostate biopsy. ( 0,777559922194262 )
Int J Comput Assist Radiol Surg - Morphometry-based measurements of the structural response to whole-brain radiation. ( 0,750283068603781 )
Comput Methods Programs Biomed - Augment low-field intra-operative MRI with preoperative MRI using a hybrid non-rigid registration method. ( 0,745538242694651 )
Int J Comput Assist Radiol Surg - Analysis of the micro-migration of sliding hip screws by using point-based registration. ( 0,738423656744349 )
Int J Comput Assist Radiol Surg - Accuracy analysis in MRI-guided robotic prostate biopsy. ( 0,731630239915536 )
Int J Comput Assist Radiol Surg - Non-iterative partial view 3D ultrasound to CT registration in ultrasound-guided computer-assisted orthopedic surgery. ( 0,727084403626336 )
Comput. Aided Surg. - Accuracy of a 3D fluoroscopic navigation system using a flat-panel detector-equipped C-arm. ( 0,725433507994489 )
J Med Syst - Statistical signal processing technique for identification of different infected sites of the diseased lungs. ( 0,721140303231448 )
Int J Comput Assist Radiol Surg - A framework for correcting brain retraction based on an eXtended Finite Element Method using a laser range scanner. ( 0,71811432831908 )
Int J Comput Assist Radiol Surg - Target visibility enhancement for C-arm cone beam CT-fluoroscopy-guided hepatic needle placement: implementation and accuracy evaluation. ( 0,714621015924263 )
Int J Comput Assist Radiol Surg - Towards accurate, robust and practical ultrasound-CT registration of vertebrae for image-guided spine surgery. ( 0,709532748012311 )
Int J Comput Assist Radiol Surg - Video-guided calibration of an augmented reality mobile C-arm. ( 0,705307695443444 )
Med Biol Eng Comput - Computer-assisted and patient-specific 3-D planning and evaluation of a single-cut rotational osteotomy for complex long-bone deformities. ( 0,703492272970242 )
Comput Methods Programs Biomed - Elastic image registration for guiding focal laser ablation of prostate cancer: preliminary results. ( 0,696328136445216 )
Int J Comput Assist Radiol Surg - Catheter tip tracking for MR-guided interventions using discrete Kalman filter and mean shift localization. ( 0,68826454457475 )
Int J Comput Assist Radiol Surg - Interactive navigation of segmented MR angiograms using simultaneous curved planar and volume visualizations. ( 0,684467756492893 )
Comput. Biol. Med. - Interactive development of a CT-based tissue model for ultrasound simulation. ( 0,682946946679431 )
Int J Comput Assist Radiol Surg - Aortic valve prosthesis tracking for transapical aortic valve implantation. ( 0,681756099978648 )
Int J Comput Assist Radiol Surg - Brain-shift compensation by non-rigid registration of intra-operative ultrasound images with preoperative MR images based on residual complexity. ( 0,670964013428271 )
Comput. Aided Surg. - Fusion and visualization of intraoperative cortical images with preoperative models for epilepsy surgical planning and guidance. ( 0,66919045657093 )
Int J Comput Assist Radiol Surg - Electrode localization for planning surgical resection of the epileptogenic zone in pediatric epilepsy. ( 0,668367352357281 )
Int J Med Robot - Evaluation of a neurosurgical robotic system to make accurate burr holes. ( 0,668308497299471 )
IEEE Trans Vis Comput Graph - An Evaluation of Depth Enhancing Perceptual Cues for Vascular Volume Visualization in Neurosurgery. ( 0,667148818897202 )
Int J Comput Assist Radiol Surg - Fast rigid registration of pre-operative magnetic resonance images to intra-operative ultrasound for neurosurgery based on high confidence gradient orientations. ( 0,6669701307818 )
Int J Comput Assist Radiol Surg - Design and analysis of a head-mounted parallel kinematic device for skull surgery. ( 0,666832480680229 )
Int J Comput Assist Radiol Surg - Image-based electrode array tracking for epicardial electrophysiological mapping in minimally invasive arrhythmia surgery. ( 0,666319091310048 )
Int J Comput Assist Radiol Surg - 2D-3D radiograph to cone-beam computed tomography (CBCT) registration for C-arm image-guided robotic surgery. ( 0,666305523245258 )
Int J Comput Assist Radiol Surg - Validation of a hybrid Doppler ultrasound vessel-based registration algorithm for neurosurgery. ( 0,666008420737267 )
Int J Comput Assist Radiol Surg - Calibration of the motor-assisted robotic stereotaxy system: MARS. ( 0,664601547051392 )
Int J Comput Assist Radiol Surg - Improving N-wire phantom-based freehand ultrasound calibration. ( 0,664005763650185 )
Int J Comput Assist Radiol Surg - Optical coordinate tracking system using afocal optics for image-guided surgery. ( 0,662462968040377 )
Int J Med Robot - Image mapping of untracked free-hand endoscopic views to an ultrasound image-constructed 3D placenta model. ( 0,662031106192111 )
Int J Comput Assist Radiol Surg - Fluoroscopy-based laser guidance system for linear surgical tool insertion depth control. ( 0,661302863118802 )
Comput Methods Programs Biomed - A computer assessment of the effect of hindfoot alignment on mechanical axis deviation. ( 0,660779143728295 )
Int J Comput Assist Radiol Surg - Segmentation of radiographic images under topological constraints: application to the femur. ( 0,660565753689783 )
Int J Comput Assist Radiol Surg - Accuracy considerations in image-guided cardiac interventions: experience and lessons learned. ( 0,658833995683531 )
Int J Comput Assist Radiol Surg - Positioning error evaluation of GPU-based 3D ultrasound surgical navigation system for moving targets by using optical tracking system. ( 0,657985398082017 )
Int J Comput Assist Radiol Surg - Experimental evaluation of ultrasound-guided 3D needle steering in biological tissue. ( 0,656989109521568 )
Methods Inf Med - Lung registration using automatically detected landmarks. ( 0,655853450926724 )
Comput. Aided Surg. - Optimal number and distribution of points selected on the vertebra for surface matching in CT-based spinal navigation. ( 0,653087883508407 )
J Med Syst - A robust method for ventriculomegaly detection from neonatal brain ultrasound images. ( 0,652906220491011 )
Int J Med Robot - Accuracy study of a robotic system for MRI-guided prostate needle placement. ( 0,650485597332893 )
Comput. Aided Surg. - A navigation system for percutaneous needle interventions based on PET/CT images: design, workflow and error analysis of soft tissue and bone punctures. ( 0,64981144669841 )
Int J Comput Assist Radiol Surg - Preclinical evaluation of an MRI-compatible pneumatic robot for angulated needle placement in transperineal prostate interventions. ( 0,646675914382166 )
Int J Comput Assist Radiol Surg - Ultrasound-CT registration of vertebrae without reconstruction. ( 0,646601092966108 )
Med Biol Eng Comput - Patient-tailored plate for bone fixation and accurate 3D positioning in corrective osteotomy. ( 0,646410303940571 )
Int J Comput Assist Radiol Surg - 4D-CT Lung registration using anatomy-based multi-level multi-resolution optical flow analysis and thin-plate splines. ( 0,645823682482297 )
Int J Med Robot - A robust automated markerless registration framework for neurosurgery navigation. ( 0,64565596294323 )
Int J Med Robot - Accuracy of a freehand sculpting tool for unicondylar knee replacement. ( 0,645547311499733 )
Int J Med Robot - Augmented reality to the rescue of the minimally invasive surgeon. The usefulness of the interposition of stereoscopic images in the Da Vinci? robotic console. ( 0,643734762664254 )
Int J Comput Assist Radiol Surg - An on-board surgical tracking and video augmentation system for C-arm image guidance. ( 0,64366435218803 )
Int J Comput Assist Radiol Surg - Comparing two approaches to rigid registration of three-dimensional ultrasound and magnetic resonance images for neurosurgery. ( 0,643455140367218 )
IEEE Trans Image Process - Integrating segmentation information for improved MRF-based elastic image registration. ( 0,640380234224433 )
Int J Comput Assist Radiol Surg - Determining the position of a patient reference from C-Arm views for image guided navigation. ( 0,636919487052377 )
Int J Comput Assist Radiol Surg - Warning navigation system using real-time safe region monitoring for otologic surgery. ( 0,636122055949807 )
Int J Med Robot - Comparison of optical and electromagnetic tracking for navigated lateral skull base surgery. ( 0,635707602603506 )
Comput. Biol. Med. - Three-dimensional semiautomatic liver segmentation method for non-contrast computed tomography based on a correlation map of locoregional histogram and probabilistic atlas. ( 0,63490603609271 )
Int J Comput Assist Radiol Surg - Compression fracture diagnosis in lumbar: a clinical CAD system. ( 0,634724100693714 )
Int J Comput Assist Radiol Surg - Three-dimensional histological specimen preparation for accurate imaging and spatial reconstruction of the middle and inner ear. ( 0,634301942446771 )
Int J Comput Assist Radiol Surg - 3D kinematics of mobile-bearing total knee arthroplasty using X-ray fluoroscopy. ( 0,632730786177396 )
Int J Comput Assist Radiol Surg - Immobilization and catheter guidance for breast brachytherapy. ( 0,63171709805506 )
Int J Comput Assist Radiol Surg - Minimization of target registration error for vertebra in image-guided spine surgery. ( 0,631175254380012 )
Int J Comput Assist Radiol Surg - Image registration of pre-procedural MRI and intra-procedural CT images to aid CT-guided percutaneous cryoablation of renal tumors. ( 0,630932433080143 )
Int J Comput Assist Radiol Surg - Validation of automated ultrasound-CT registration of vertebrae. ( 0,63091160993279 )
Int J Comput Assist Radiol Surg - Interventional real-time ultrasound imaging with an integrated electromagnetic field generator. ( 0,630769891393043 )
Int J Comput Assist Radiol Surg - Simulation of mammographic breast compression in 3D MR images using ICP-based B-spline deformation for multimodality breast cancer diagnosis. ( 0,629324574978101 )
Int J Med Robot - Evaluation of the factors affecting the optimal fiducial configurations calculated through a genetic-algorithm-based methodology in image-guided neurosurgery. ( 0,628516885926795 )
Int J Med Robot - A study on the theoretical and practical accuracy of conoscopic holography-based surface measurements: toward image registration in minimally invasive surgery. ( 0,627932748174697 )
Int J Comput Assist Radiol Surg - Fully automatic extraction of human spine curve from MR images using methods of efficient intervertebral disk extraction and vertebra registration. ( 0,626001663236107 )
Med Biol Eng Comput - Novel framework for registration of pedobarographic image data. ( 0,625200952363594 )
Int J Comput Assist Radiol Surg - Image-guided placement of the Bonebridge? without surgical navigation equipment. ( 0,62267789842948 )
Int J Comput Assist Radiol Surg - Augmented reality haptic (ARH): an approach of electromagnetic tracking in minimally invasive surgery. ( 0,62094550260376 )
Comput. Aided Surg. - 3D atlas-based registration can calculate malalignment of femoral shaft fractures in six degrees of freedom. ( 0,61899754779685 )
Comput Methods Programs Biomed - A comparative approach of four different image registration techniques for quantitative assessment of coronary artery calcium lesions using intravascular ultrasound. ( 0,61897876027366 )
Int J Comput Assist Radiol Surg - PyDBS: an automated image processing workflow for deep brain stimulation surgery. ( 0,617919938112015 )
Int J Comput Assist Radiol Surg - A beam-splitter-type 3-D endoscope for front view and front-diagonal view images. ( 0,616739574210697 )
Int J Comput Assist Radiol Surg - Development of a real-time tactile sensing system for brain tumor diagnosis. ( 0,616203199240973 )
Int J Med Robot - MR compatible positioning device for guiding a focused ultrasound system for the treatment of brain deseases. ( 0,616157198310605 )
Comput Methods Programs Biomed - Fovea center detection based on the retina anatomy and mathematical morphology. ( 0,615206935177683 )
Int J Med Robot - Electromagnetic navigation platform for endovascular surgery: how to develop sensorized catheters and guidewires. ( 0,614911582693349 )
Int J Comput Assist Radiol Surg - A 3D active model framework for segmentation of proximal femur in MR images. ( 0,614678858457804 )
Med Biol Eng Comput - Interactive segmentation of plexiform neurofibroma tissue: method and preliminary performance evaluation. ( 0,613111530603661 )
Comput Methods Programs Biomed - Algorithm for registration of full Scanning Laser Ophthalmoscope video sequences. ( 0,611639913009045 )
Int J Comput Assist Radiol Surg - A vision-based system for fast and accurate laser scanning in robot-assisted phonomicrosurgery. ( 0,611519201993231 )
Int J Comput Assist Radiol Surg - Clinical testing of an alternate method of inserting bone-implanted fiducial markers. ( 0,610502608670861 )
Comput Methods Programs Biomed - Automatic segmentation of human facial tissue by MRI-CT fusion: a feasibility study. ( 0,60888884098616 )
Int J Comput Assist Radiol Surg - Automated dental implantation using image-guided robotics: registration results. ( 0,607533556001093 )
Comput. Biol. Med. - Pulmonary nodule registration in serial CT scans using global rib matching and nodule template matching. ( 0,606460904488932 )
Int J Comput Assist Radiol Surg - A motion constrained cross-wire phantom for tracked 2D ultrasound calibration. ( 0,605267523124485 )
Int J Comput Assist Radiol Surg - Transorbital target localization with augmented ophthalmologic surgical endoscopy. ( 0,605024126113481 )
Int J Comput Assist Radiol Surg - Computer assisted determination of acetabular cup orientation using 2D-3D image registration. ( 0,604486443106815 )
Int J Comput Assist Radiol Surg - An electromagnetic Tracker-in-Table configuration for X-ray fluoroscopy and cone-beam CT-guided surgery. ( 0,604019203382457 )
IEEE Trans Pattern Anal Mach Intell - Multi-Atlas Segmentation with Joint Label Fusion. ( 0,603875708514757 )
Comput Methods Programs Biomed - Real-time advanced spinal surgery via visible patient model and augmented reality system. ( 0,602444434885576 )
Int J Med Robot - Using a passive coordinate measurement arm for motion tracking of a rigid endoscope for augmented-reality image-guided surgery. ( 0,601037657282485 )
Comput Math Methods Med - Comparison of organ location, morphology, and rib coverage of a midsized male in the supine and seated positions. ( 0,600881568738973 )
Int J Comput Assist Radiol Surg - C-arm angle measurement with accelerometer for brachytherapy: an accuracy study. ( 0,600785257333078 )
Int J Comput Assist Radiol Surg - Electromagnetic tracking in surgical and interventional environments: usability study. ( 0,600580339317096 )
Comput Math Methods Med - Effectiveness of variable-gain Kalman filter based on angle error calculated from acceleration signals in lower limb angle measurement with inertial sensors. ( 0,600319131465335 )
Comput. Aided Surg. - Accuracy and diagnostic yield of CT-guided stereotactic liver biopsy of primary and secondary liver tumors. ( 0,599785576912661 )