<?xml version="1.0" encoding="UTF-8"?><xml><records><record><source-app name="Biblio" version="7.x">Drupal-Biblio</source-app><ref-type>17</ref-type><contributors><authors><author><style face="normal" font="default" size="100%">Gábor Fichtinger</style></author><author><style face="normal" font="default" size="100%">Theodore L. DeWeese</style></author><author><style face="normal" font="default" size="100%">Alexandru Patriciu</style></author><author><style face="normal" font="default" size="100%">Attila Tanacs</style></author><author><style face="normal" font="default" size="100%">Dumitru Mazilu</style></author><author><style face="normal" font="default" size="100%">James H Anderson</style></author><author><style face="normal" font="default" size="100%">Ken Masamune</style></author><author><style face="normal" font="default" size="100%">Russel H Taylor</style></author><author><style face="normal" font="default" size="100%">Dan Stoianovici</style></author></authors></contributors><titles><title><style face="normal" font="default" size="100%">System for robotically assisted prostate biopsy and therapy with intraoperative CT guidance</style></title><secondary-title><style face="normal" font="default" size="100%">ACADEMIC RADIOLOGY</style></secondary-title><short-title><style face="normal" font="default" size="100%">ACAD RADIOL</style></short-title></titles><dates><year><style  face="normal" font="default" size="100%">2002</style></year><pub-dates><date><style  face="normal" font="default" size="100%">2002</style></date></pub-dates></dates><volume><style face="normal" font="default" size="100%">9</style></volume><pages><style face="normal" font="default" size="100%">60 - 74</style></pages><isbn><style face="normal" font="default" size="100%">1076-6332</style></isbn><language><style face="normal" font="default" size="100%">eng</style></language><abstract><style face="normal" font="default" size="100%">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°, 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.</style></abstract><issue><style face="normal" font="default" size="100%">1</style></issue><notes><style face="normal" font="default" size="100%">ScopusID: 0036184964doi: 10.1016/S1076-6332(03)80297-0Tradenames: Neuromate robot, Integrated Surgical Systems, United StatesManufacturers: Integrated Surgical Systems, United States
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