@article {1374,
	title = {System for robotically assisted prostate biopsy and therapy with intraoperative CT guidance},
	journal = {ACADEMIC RADIOLOGY},
	volume = {9},
	year = {2002},
	note = {ScopusID: 0036184964doi: 10.1016/S1076-6332(03)80297-0Tradenames: Neuromate robot, Integrated Surgical Systems, United StatesManufacturers: Integrated Surgical Systems, United States
},
	month = {2002},
	pages = {60 - 74},
	abstract = {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{\textdegree}, 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.},
	isbn = {1076-6332},
	author = {G{\'a}bor Fichtinger and Theodore L. DeWeese and Alexandru Patriciu and Attila Tanacs and Dumitru Mazilu and James H Anderson and Ken Masamune and Russel H Taylor and Dan Stoianovici}
}
