var bibbase_data = {"data":"<img src=\"//bibbase.org/img/ajax-loader.gif\" id=\"spinner\"\n  style=\"display: none;\" alt=\"Loading..\" />\n\n<div id=\"bibbase\">\n\n  <script type=\"text/javascript\">\n    var bibbase = {\n      params: {\"bib\":\"https://niravatgit.github.io/patelnirav.com/resources/Nirav_Publicationst.bib\",\"jsonp\":\"1\",\"group0\":\"type\",\"folding\":\"1\",\"css\":\"niravatgit.github.io/patelnirav.com/css/style.css\",\"filter\":\"key:patel2018cadaver|nirav2018_3|patel2019preclinical|kim2019shoulder|patel2018robotic|nirav2018_1|patel2018body\",\"host\":\"bibbase.org\"},\n      data: [{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"abstract\":\"This paper introduces our compact and lightweight patient-mounted MRI-compatible 4 degree-of-freedom (DOF) robot with an improved transmission system for MRI-guided arthrography procedures. This robot could make the traditional two-stage arthrography procedure (fluoroscopy-guided needle insertion followed by a diagnostic MRI scan) simpler by converting it to a one-stage procedure but more accurate with an optimized system. The new transmission system is proposed, using different mechanical components, to result in higher accuracy of needle insertion. The results of a recent accuracy study are reported. Experimental results show that the new system has an error of 1.7 mm in positioning the needle tip at a depth of 50 mm, which indicates high accuracy.\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Kim\"],\"firstnames\":[\"Gyeong\",\"Hu\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Patel\"],\"firstnames\":[\"Niravkumar\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Yan\"],\"firstnames\":[\"Jiawen\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Wu\"],\"firstnames\":[\"Di\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Li\"],\"firstnames\":[\"Gang\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Cleary\"],\"firstnames\":[\"Kevin\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Iordachita\"],\"firstnames\":[\"Iulian\"],\"suffixes\":[]}],\"booktitle\":\"Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS\",\"doi\":\"10.1109/EMBC.2019.8856630\",\"isbn\":\"9781538613115\",\"issn\":\"1557170X\",\"organization\":\"IEEE\",\"pages\":\"1977–1980\",\"pmid\":\"31946287\",\"title\":\"Shoulder-mounted Robot for MRI-Guided Arthrography: Clinically Optimized System\",\"year\":\"2019\",\"bibtex\":\"@inproceedings{kim2019shoulder,\\nabstract = {This paper introduces our compact and lightweight patient-mounted MRI-compatible 4 degree-of-freedom (DOF) robot with an improved transmission system for MRI-guided arthrography procedures. This robot could make the traditional two-stage arthrography procedure (fluoroscopy-guided needle insertion followed by a diagnostic MRI scan) simpler by converting it to a one-stage procedure but more accurate with an optimized system. The new transmission system is proposed, using different mechanical components, to result in higher accuracy of needle insertion. The results of a recent accuracy study are reported. Experimental results show that the new system has an error of 1.7 mm in positioning the needle tip at a depth of 50 mm, which indicates high accuracy.},\\nauthor = {Kim, Gyeong Hu and Patel, Niravkumar and Yan, Jiawen and Wu, Di and Li, Gang and Cleary, Kevin and Iordachita, Iulian},\\nbooktitle = {Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS},\\ndoi = {10.1109/EMBC.2019.8856630},\\nisbn = {9781538613115},\\nissn = {1557170X},\\norganization = {IEEE},\\npages = {1977--1980},\\npmid = {31946287},\\ntitle = {{Shoulder-mounted Robot for MRI-Guided Arthrography: Clinically Optimized System}},\\nyear = {2019}\\n}\\n\",\"author_short\":[\"Kim, G. H.\",\"Patel, N.\",\"Yan, J.\",\"Wu, D.\",\"Li, G.\",\"Cleary, K.\",\"Iordachita, I.\"],\"key\":\"kim2019shoulder\",\"id\":\"kim2019shoulder\",\"bibbaseid\":\"kim-patel-yan-wu-li-cleary-iordachita-shouldermountedrobotformriguidedarthrographyclinicallyoptimizedsystem-2019\",\"role\":\"author\",\"urls\":{},\"metadata\":{\"authorlinks\":{\"patel, n\":\"https://niravatgit.github.io/INSPIRELab/publications.html#publications\"}},\"html\":\"\"},{\"bibtype\":\"article\",\"type\":\"article\",\"abstract\":\"© 2019 Society of Photo-Optical Instrumentation Engineers (SPIE). Shoulder arthrography is a diagnostic procedure which involves injecting a contrast agent into the joint space for enhanced visualization of anatomical structures. Typically, a contrast agent is injected under fluoroscopy or computed tomography (CT) guidance, resulting in exposure to ionizing radiation, which should be avoided especially in pediatric patients. The patient then waits for the next available magnetic resonance imaging (MRI) slot for obtaining high-resolution anatomical images for diagnosis, which can result in long procedure times. Performing the contrast agent injection under MRI guidance could overcome both these issues. However, it comes with the challenges of the MRI environment including high magnetic field strength, limited ergonomic patient access, and lack of real-time needle guidance. We present the development of an integrated robotic system to perform shoulder arthrography procedures under intraoperative MRI guidance, eliminating fluoroscopy/CT guidance and patient transportation from the fluoroscopy/CT room to the MRI suite. The average accuracy of the robotic manipulator in benchtop experiments is 0.90 mm and 1.04 deg, whereas the average accuracy of the integrated system in MRI phantom experiments is 1.92 mm and 1.28 deg at the needle tip. Based on the American Society for Testing and Materials (ASTM) tests performed, the system is classified as MR conditional.\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Patel\"],\"firstnames\":[\"Niravkumar\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Yan\"],\"firstnames\":[\"Jiawen\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Monfaredi\"],\"firstnames\":[\"Reza\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Sharma\"],\"firstnames\":[\"Karun\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Cleary\"],\"firstnames\":[\"Kevin\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Iordachita\"],\"firstnames\":[\"Iulian\"],\"suffixes\":[]}],\"doi\":\"10.1117/1.jmi.6.2.025006\",\"issn\":\"2329-4302\",\"journal\":\"Journal of Medical Imaging\",\"number\":\"02\",\"pages\":\"1\",\"publisher\":\"International Society for Optics and Photonics\",\"title\":\"Preclinical evaluation of an integrated robotic system for magnetic resonance imaging guided shoulder arthrography\",\"volume\":\"6\",\"year\":\"2019\",\"bibtex\":\"@article{patel2019preclinical,\\nabstract = {{\\\\textcopyright} 2019 Society of Photo-Optical Instrumentation Engineers (SPIE). Shoulder arthrography is a diagnostic procedure which involves injecting a contrast agent into the joint space for enhanced visualization of anatomical structures. Typically, a contrast agent is injected under fluoroscopy or computed tomography (CT) guidance, resulting in exposure to ionizing radiation, which should be avoided especially in pediatric patients. The patient then waits for the next available magnetic resonance imaging (MRI) slot for obtaining high-resolution anatomical images for diagnosis, which can result in long procedure times. Performing the contrast agent injection under MRI guidance could overcome both these issues. However, it comes with the challenges of the MRI environment including high magnetic field strength, limited ergonomic patient access, and lack of real-time needle guidance. We present the development of an integrated robotic system to perform shoulder arthrography procedures under intraoperative MRI guidance, eliminating fluoroscopy/CT guidance and patient transportation from the fluoroscopy/CT room to the MRI suite. The average accuracy of the robotic manipulator in benchtop experiments is 0.90 mm and 1.04 deg, whereas the average accuracy of the integrated system in MRI phantom experiments is 1.92 mm and 1.28 deg at the needle tip. Based on the American Society for Testing and Materials (ASTM) tests performed, the system is classified as MR conditional.},\\nauthor = {Patel, Niravkumar and Yan, Jiawen and Monfaredi, Reza and Sharma, Karun and Cleary, Kevin and Iordachita, Iulian},\\ndoi = {10.1117/1.jmi.6.2.025006},\\nissn = {2329-4302},\\njournal = {Journal of Medical Imaging},\\nnumber = {02},\\npages = {1},\\npublisher = {International Society for Optics and Photonics},\\ntitle = {{Preclinical evaluation of an integrated robotic system for magnetic resonance imaging guided shoulder arthrography}},\\nvolume = {6},\\nyear = {2019}\\n}\\n\",\"author_short\":[\"Patel, N.\",\"Yan, J.\",\"Monfaredi, R.\",\"Sharma, K.\",\"Cleary, K.\",\"Iordachita, I.\"],\"key\":\"patel2019preclinical\",\"id\":\"patel2019preclinical\",\"bibbaseid\":\"patel-yan-monfaredi-sharma-cleary-iordachita-preclinicalevaluationofanintegratedroboticsystemformagneticresonanceimagingguidedshoulderarthrography-2019\",\"role\":\"author\",\"urls\":{},\"metadata\":{\"authorlinks\":{\"patel, n\":\"https://niravatgit.github.io/INSPIRELab/publications.html#publications\"}},\"downloads\":1,\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"abstract\":\"This paper introduces a body mounted robotic system for MRI-guided shoulder arthrography in pediatric patients. This robotic manipulator is optimized for being accurate yet light enough to perform the contrast agent injection and joint examination imaging inside the MRI bore. The robotic manipulator has 4 degrees of freedom (DOF) providing accurate insertion trajectory of the injection needle. In shoulder arthrography procedures, contrast agent is injected under fluoroscope guidance resulting in radiation exposure which should be avoided for pediatric patients. Also after contrast agent injection typically MRI images are acquired for examination resulting in two stage procedure. The presented system allows clinicians to perform both contrast agent injection and joint examination under MRI guidance, hence completely eliminating radiation exposure from fluoroscope guidance and patient movement from X-Ray/CT room to MRI suite. The presented system contains no ferrous components and is considered MR-Conditional. The bench-top accuracy evaluation of the robotic manipulator shows average pose error of 1.22 mm in position and 1 degree in orientation at the needle tip.\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Patel\"],\"firstnames\":[\"Niravkumar\",\"A.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Azimi\"],\"firstnames\":[\"Ehsan\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Monfaredi\"],\"firstnames\":[\"Reza\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Sharma\"],\"firstnames\":[\"Karun\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Cleary\"],\"firstnames\":[\"Kevin\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Iordachita\"],\"firstnames\":[\"Iulian\"],\"suffixes\":[]}],\"booktitle\":\"2018 International Symposium on Medical Robotics, ISMR 2018\",\"doi\":\"10.1109/ISMR.2018.8333299\",\"isbn\":\"9781538625125\",\"organization\":\"IEEE\",\"pages\":\"1–6\",\"title\":\"Robotic system for MRI-guided shoulder arthrography: Accuracy evaluation\",\"url\":\"https://doi.org/10.1109/ISMR.2018.8333299\",\"volume\":\"2018-Janua\",\"year\":\"2018\",\"bibtex\":\"@inproceedings{patel2018robotic,\\nabstract = {This paper introduces a body mounted robotic system for MRI-guided shoulder arthrography in pediatric patients. This robotic manipulator is optimized for being accurate yet light enough to perform the contrast agent injection and joint examination imaging inside the MRI bore. The robotic manipulator has 4 degrees of freedom (DOF) providing accurate insertion trajectory of the injection needle. In shoulder arthrography procedures, contrast agent is injected under fluoroscope guidance resulting in radiation exposure which should be avoided for pediatric patients. Also after contrast agent injection typically MRI images are acquired for examination resulting in two stage procedure. The presented system allows clinicians to perform both contrast agent injection and joint examination under MRI guidance, hence completely eliminating radiation exposure from fluoroscope guidance and patient movement from X-Ray/CT room to MRI suite. The presented system contains no ferrous components and is considered MR-Conditional. The bench-top accuracy evaluation of the robotic manipulator shows average pose error of 1.22 mm in position and 1 degree in orientation at the needle tip.},\\nauthor = {Patel, Niravkumar A. and Azimi, Ehsan and Monfaredi, Reza and Sharma, Karun and Cleary, Kevin and Iordachita, Iulian},\\nbooktitle = {2018 International Symposium on Medical Robotics, ISMR 2018},\\ndoi = {10.1109/ISMR.2018.8333299},\\nisbn = {9781538625125},\\norganization = {IEEE},\\npages = {1--6},\\ntitle = {{Robotic system for MRI-guided shoulder arthrography: Accuracy evaluation}},\\nurl = {https://doi.org/10.1109/ISMR.2018.8333299},\\nvolume = {2018-Janua},\\nyear = {2018}\\n}\\n\",\"author_short\":[\"Patel, N. A.\",\"Azimi, E.\",\"Monfaredi, R.\",\"Sharma, K.\",\"Cleary, K.\",\"Iordachita, I.\"],\"key\":\"patel2018robotic\",\"id\":\"patel2018robotic\",\"bibbaseid\":\"patel-azimi-monfaredi-sharma-cleary-iordachita-roboticsystemformriguidedshoulderarthrographyaccuracyevaluation-2018\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://doi.org/10.1109/ISMR.2018.8333299\"},\"metadata\":{\"authorlinks\":{\"patel, n\":\"https://niravatgit.github.io/INSPIRELab/publications.html#publications\"}},\"downloads\":1,\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"abstract\":\"This paper presents a body-mounted, four degree-of-freedom (4-DOF) parallel mechanism robot for image-guided percutaneous interventions. The design of the robot is optimized to be light weight and compact such that it could be mounted to the patient body. It has a modular design that can be adopted for assisting various image-guided, needle-based percutaneous interventions such as arthrography, biopsy and brachytherapy seed placement. The robot mechanism and the control system are designed and manufactured with components compatible with imaging modalities including Magnetic Resonance Imaging (MRI) and Computed Tomography (CT). The current version of the robot presented in this paper is optimized for shoulder arthrography under MRI guidance; a Z-shaped fiducial frame is attached to the robot, providing accurate and repeatable robot registration with the MR scanner coordinate system. Here we present the mechanical design of the manipulator, robot kinematics, robot calibration procedure, and preliminary bench-top accuracy assessment. The bench-top accuracy evaluation of the robotic manipulator shows average translational error of 1.01 mm and 0.96 mm in X and Z axes, respectively, and average rotational error of 3.06 degrees and 2.07 degrees about the X and Z axes, respectively.\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Patel\"],\"firstnames\":[\"Niravkumar\",\"A.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Yan\"],\"firstnames\":[\"Jiawen\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Levi\"],\"firstnames\":[\"David\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Monfaredi\"],\"firstnames\":[\"Reza\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Cleary\"],\"firstnames\":[\"Kevin\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Iordachita\"],\"firstnames\":[\"Iulian\"],\"suffixes\":[]}],\"booktitle\":\"IEEE International Conference on Intelligent Robots and Systems\",\"doi\":\"10.1109/IROS.2018.8593807\",\"isbn\":\"9781538680940\",\"issn\":\"21530866\",\"organization\":\"IEEE\",\"pages\":\"1443–1448\",\"title\":\"Body-Mounted Robot for Image-Guided Percutaneous Interventions: Mechanical Design and Preliminary Accuracy Evaluation\",\"year\":\"2018\",\"bibtex\":\"@inproceedings{patel2018body,\\nabstract = {This paper presents a body-mounted, four degree-of-freedom (4-DOF) parallel mechanism robot for image-guided percutaneous interventions. The design of the robot is optimized to be light weight and compact such that it could be mounted to the patient body. It has a modular design that can be adopted for assisting various image-guided, needle-based percutaneous interventions such as arthrography, biopsy and brachytherapy seed placement. The robot mechanism and the control system are designed and manufactured with components compatible with imaging modalities including Magnetic Resonance Imaging (MRI) and Computed Tomography (CT). The current version of the robot presented in this paper is optimized for shoulder arthrography under MRI guidance; a Z-shaped fiducial frame is attached to the robot, providing accurate and repeatable robot registration with the MR scanner coordinate system. Here we present the mechanical design of the manipulator, robot kinematics, robot calibration procedure, and preliminary bench-top accuracy assessment. The bench-top accuracy evaluation of the robotic manipulator shows average translational error of 1.01 mm and 0.96 mm in X and Z axes, respectively, and average rotational error of 3.06 degrees and 2.07 degrees about the X and Z axes, respectively.},\\nauthor = {Patel, Niravkumar A. and Yan, Jiawen and Levi, David and Monfaredi, Reza and Cleary, Kevin and Iordachita, Iulian},\\nbooktitle = {IEEE International Conference on Intelligent Robots and Systems},\\ndoi = {10.1109/IROS.2018.8593807},\\nisbn = {9781538680940},\\nissn = {21530866},\\norganization = {IEEE},\\npages = {1443--1448},\\ntitle = {{Body-Mounted Robot for Image-Guided Percutaneous Interventions: Mechanical Design and Preliminary Accuracy Evaluation}},\\nyear = {2018}\\n}\\n\",\"author_short\":[\"Patel, N. A.\",\"Yan, J.\",\"Levi, D.\",\"Monfaredi, R.\",\"Cleary, K.\",\"Iordachita, I.\"],\"key\":\"patel2018body\",\"id\":\"patel2018body\",\"bibbaseid\":\"patel-yan-levi-monfaredi-cleary-iordachita-bodymountedrobotforimageguidedpercutaneousinterventionsmechanicaldesignandpreliminaryaccuracyevaluation-2018\",\"role\":\"author\",\"urls\":{},\"metadata\":{\"authorlinks\":{\"patel, n\":\"https://niravatgit.github.io/INSPIRELab/publications.html#publications\"}},\"downloads\":2,\"html\":\"\"}],\n      metadata: {\"owner\":\"patel, n\",\"authorlinks\":{\"patel, n\":\"https://niravatgit.github.io/INSPIRELab/publications.html#publications\"}},\n      ownerID: \"8kAXeGqGQekYxhT6a\"\n    };\n  </script>\n\n  <script type=\"text/javascript\">\n  var site$;\n  if (typeof $ != 'undefined') {\n    console.log('existing jquery: storing and then restoring');\n    site$ = $;\n    $ = null;\n  }\n  </script>\n\n  <script src=\"https://ajax.googleapis.com/ajax/libs/jquery/2.2.4/jquery.min.js\">\n  </script>\n  <script type=\"text/javascript\">\n  if (site$) {\n    console.log('existing jquery: avoiding conflict and restoring');\n    bb$ = $.noConflict(true);\n    $ = site$;\n  } else {\n    bb$ = $;\n  }\n  </script>\n\n  <script src=\"//bibbase.org/js/bibbase.min.js\"\n          type=\"text/javascript\">\n  </script>\n\n  <script type=\"text/javascript\"\n          src=\"https://cdnjs.cloudflare.com/ajax/libs/mathjax/2.7.1/MathJax.js?config=TeX-AMS-MML_HTMLorMML\">\n  </script>\n  <script type=\"text/x-mathjax-config\">\n    MathJax.Hub.Config({tex2jax: {inlineMath: [['$','$'], ['\\\\(','\\\\)']]},\n                        skipTags: [\"body\"],\n                        processClass: \"bibbase_paper\"});\n  </script>\n\n  <style>\n  @media print {\n    .dontprint {\n        display: none !important;\n    }\n\n  .bibbase_group {\n    background-color: #E0E0E0;\n    font-style: italic;\n    font-size: larger;\n    text-shadow: 0px 0px 3px #FFFFFF;\n    border-radius: 4px 4px 4px 4px;\n    -moz-border-radius: 4px 4px 4px 4px;\n    -webkit-border-radius: 4px;\n    padding: 5px 40px 5px;\n    margin-top: 10px;\n    margin-bottom: 5px;\n    cursor: pointer;\n  }\n\n  .bibbase_paper {\n    margin-bottom: 5px;\n  }\n\n  }\n  </style>\n\n  \n  <div style=\"float: right; margin-right: 10px; margin-top: 10px; text-align: right; font-size: 12px\">\n    generated by\n    <a href=\"//bibbase.org\"\n       onclick=\"trackOutboundLink('bibbase', 'logo clicked', window.location.href, '//bibbase.org'); return false;\">\n      <img src=\"//bibbase.org/img/logo.svg\"\n           style=\"vertical-align: middle; margin-left: 3px; height: 16px;\"/\n           alt=\"bibbase.org\"\n           title=\"BibBase – The easiest way to maintain your publications page.\"\n        ></a>\n    \n  </div>\n  \n\n  <div id=\"bibbase_header\" class=\"dontprint\" style=\"\">\n\n    <ul class=\"nav nav-pills\" style=\"margin: 0px;\">\n\n      <li class=\"dropdown\" id=\"groupby_dropdown\">\n      <a class=\"dropdown-toggle\"\n         data-toggle=\"dropdown\"\n         href=\"#\">\n          Group by\n          <b class=\"caret\"></b>\n      </a>\n      <ul class=\"dropdown-menu\">\n        <li class=\"groupby year\"><a onclick=\"groupby('year')\">\n            Year</a>\n        </li>\n        <li class=\"groupby author\"><a onclick=\"groupby('author_short')\">\n            Author</a>\n        </li>\n        <li class=\"groupby type\"><a onclick=\"groupby('type')\">\n            Type</a>\n        </li>\n        <li class=\"groupby keyword\"><a onclick=\"groupby('keyword')\">\n            Keyword</a>\n        </li>\n        <li class=\"groupby downloads\"><a onclick=\"groupby('downloads')\">\n            Downloads</a>\n        </li>\n      </ul>\n      </li>\n\n\n      <li class=\"dropdown\" id=\"menu_dropdown\">\n      <a class=\"dropdown-toggle\"\n         data-toggle=\"dropdown\"\n         href=\"#\" alt=\"controls\">\n          <i class=\"fa fa-reorder\" alt=\"controls\"></i>\n          <b class=\"caret\"></b>\n      </a>\n      <ul class=\"dropdown-menu\">\n        <li>\n          <a onclick=\"toggleAll()\">\n            <i class=\"fa fa-chevron-down fa-fw\"></i> Expand/Collapse All\n          </a>\n        </li>\n        <li>\n          <a download=\"Nirav_Publicationst.bib\" href=\"data:text/bibtex;base64,@inproceedings{kim2019shoulder,
abstract = {This paper introduces our compact and lightweight patient-mounted MRI-compatible 4 degree-of-freedom (DOF) robot with an improved transmission system for MRI-guided arthrography procedures. This robot could make the traditional two-stage arthrography procedure (fluoroscopy-guided needle insertion followed by a diagnostic MRI scan) simpler by converting it to a one-stage procedure but more accurate with an optimized system. The new transmission system is proposed, using different mechanical components, to result in higher accuracy of needle insertion. The results of a recent accuracy study are reported. Experimental results show that the new system has an error of 1.7 mm in positioning the needle tip at a depth of 50 mm, which indicates high accuracy.},
author = {Kim, Gyeong Hu and Patel, Niravkumar and Yan, Jiawen and Wu, Di and Li, Gang and Cleary, Kevin and Iordachita, Iulian},
booktitle = {Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS},
doi = {10.1109/EMBC.2019.8856630},
isbn = {9781538613115},
issn = {1557170X},
organization = {IEEE},
pages = {1977--1980},
pmid = {31946287},
title = {{Shoulder-mounted Robot for MRI-Guided Arthrography: Clinically Optimized System}},
year = {2019}
}


@article{patel2019preclinical,
abstract = {{\textcopyright} 2019 Society of Photo-Optical Instrumentation Engineers (SPIE). Shoulder arthrography is a diagnostic procedure which involves injecting a contrast agent into the joint space for enhanced visualization of anatomical structures. Typically, a contrast agent is injected under fluoroscopy or computed tomography (CT) guidance, resulting in exposure to ionizing radiation, which should be avoided especially in pediatric patients. The patient then waits for the next available magnetic resonance imaging (MRI) slot for obtaining high-resolution anatomical images for diagnosis, which can result in long procedure times. Performing the contrast agent injection under MRI guidance could overcome both these issues. However, it comes with the challenges of the MRI environment including high magnetic field strength, limited ergonomic patient access, and lack of real-time needle guidance. We present the development of an integrated robotic system to perform shoulder arthrography procedures under intraoperative MRI guidance, eliminating fluoroscopy/CT guidance and patient transportation from the fluoroscopy/CT room to the MRI suite. The average accuracy of the robotic manipulator in benchtop experiments is 0.90 mm and 1.04 deg, whereas the average accuracy of the integrated system in MRI phantom experiments is 1.92 mm and 1.28 deg at the needle tip. Based on the American Society for Testing and Materials (ASTM) tests performed, the system is classified as MR conditional.},
author = {Patel, Niravkumar and Yan, Jiawen and Monfaredi, Reza and Sharma, Karun and Cleary, Kevin and Iordachita, Iulian},
doi = {10.1117/1.jmi.6.2.025006},
issn = {2329-4302},
journal = {Journal of Medical Imaging},
number = {02},
pages = {1},
publisher = {International Society for Optics and Photonics},
title = {{Preclinical evaluation of an integrated robotic system for magnetic resonance imaging guided shoulder arthrography}},
volume = {6},
year = {2019}
}


@inproceedings{patel2018robotic,
abstract = {This paper introduces a body mounted robotic system for MRI-guided shoulder arthrography in pediatric patients. This robotic manipulator is optimized for being accurate yet light enough to perform the contrast agent injection and joint examination imaging inside the MRI bore. The robotic manipulator has 4 degrees of freedom (DOF) providing accurate insertion trajectory of the injection needle. In shoulder arthrography procedures, contrast agent is injected under fluoroscope guidance resulting in radiation exposure which should be avoided for pediatric patients. Also after contrast agent injection typically MRI images are acquired for examination resulting in two stage procedure. The presented system allows clinicians to perform both contrast agent injection and joint examination under MRI guidance, hence completely eliminating radiation exposure from fluoroscope guidance and patient movement from X-Ray/CT room to MRI suite. The presented system contains no ferrous components and is considered MR-Conditional. The bench-top accuracy evaluation of the robotic manipulator shows average pose error of 1.22 mm in position and 1 degree in orientation at the needle tip.},
author = {Patel, Niravkumar A. and Azimi, Ehsan and Monfaredi, Reza and Sharma, Karun and Cleary, Kevin and Iordachita, Iulian},
booktitle = {2018 International Symposium on Medical Robotics, ISMR 2018},
doi = {10.1109/ISMR.2018.8333299},
isbn = {9781538625125},
organization = {IEEE},
pages = {1--6},
title = {{Robotic system for MRI-guided shoulder arthrography: Accuracy evaluation}},
url = {https://doi.org/10.1109/ISMR.2018.8333299},
volume = {2018-Janua},
year = {2018}
}


@inproceedings{patel2018body,
abstract = {This paper presents a body-mounted, four degree-of-freedom (4-DOF) parallel mechanism robot for image-guided percutaneous interventions. The design of the robot is optimized to be light weight and compact such that it could be mounted to the patient body. It has a modular design that can be adopted for assisting various image-guided, needle-based percutaneous interventions such as arthrography, biopsy and brachytherapy seed placement. The robot mechanism and the control system are designed and manufactured with components compatible with imaging modalities including Magnetic Resonance Imaging (MRI) and Computed Tomography (CT). The current version of the robot presented in this paper is optimized for shoulder arthrography under MRI guidance; a Z-shaped fiducial frame is attached to the robot, providing accurate and repeatable robot registration with the MR scanner coordinate system. Here we present the mechanical design of the manipulator, robot kinematics, robot calibration procedure, and preliminary bench-top accuracy assessment. The bench-top accuracy evaluation of the robotic manipulator shows average translational error of 1.01 mm and 0.96 mm in X and Z axes, respectively, and average rotational error of 3.06 degrees and 2.07 degrees about the X and Z axes, respectively.},
author = {Patel, Niravkumar A. and Yan, Jiawen and Levi, David and Monfaredi, Reza and Cleary, Kevin and Iordachita, Iulian},
booktitle = {IEEE International Conference on Intelligent Robots and Systems},
doi = {10.1109/IROS.2018.8593807},
isbn = {9781538680940},
issn = {21530866},
organization = {IEEE},
pages = {1443--1448},
title = {{Body-Mounted Robot for Image-Guided Percutaneous Interventions: Mechanical Design and Preliminary Accuracy Evaluation}},
year = {2018}
}
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Shoulder arthrography is a diagnostic procedure which involves injecting a contrast agent into the joint space for enhanced visualization of anatomical structures. Typically, a contrast agent is injected under fluoroscopy or computed tomography (CT) guidance, resulting in exposure to ionizing radiation, which should be avoided especially in pediatric patients. The patient then waits for the next available magnetic resonance imaging (MRI) slot for obtaining high-resolution anatomical images for diagnosis, which can result in long procedure times. Performing the contrast agent injection under MRI guidance could overcome both these issues. However, it comes with the challenges of the MRI environment including high magnetic field strength, limited ergonomic patient access, and lack of real-time needle guidance. We present the development of an integrated robotic system to perform shoulder arthrography procedures under intraoperative MRI guidance, eliminating fluoroscopy/CT guidance and patient transportation from the fluoroscopy/CT room to the MRI suite. The average accuracy of the robotic manipulator in benchtop experiments is 0.90 mm and 1.04 deg, whereas the average accuracy of the integrated system in MRI phantom experiments is 1.92 mm and 1.28 deg at the needle tip. Based on the American Society for Testing and Materials (ASTM) tests performed, the system is classified as MR conditional.},\nauthor = {Patel, Niravkumar and Yan, Jiawen and Monfaredi, Reza and Sharma, Karun and Cleary, Kevin and Iordachita, Iulian},\ndoi = {10.1117/1.jmi.6.2.025006},\nissn = {2329-4302},\njournal = {Journal of Medical Imaging},\nnumber = {02},\npages = {1},\npublisher = {International Society for Optics and Photonics},\ntitle = {{Preclinical evaluation of an integrated robotic system for magnetic resonance imaging guided shoulder arthrography}},\nvolume = {6},\nyear = {2019}\n}\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  © 2019 Society of Photo-Optical Instrumentation Engineers (SPIE). Shoulder arthrography is a diagnostic procedure which involves injecting a contrast agent into the joint space for enhanced visualization of anatomical structures. Typically, a contrast agent is injected under fluoroscopy or computed tomography (CT) guidance, resulting in exposure to ionizing radiation, which should be avoided especially in pediatric patients. The patient then waits for the next available magnetic resonance imaging (MRI) slot for obtaining high-resolution anatomical images for diagnosis, which can result in long procedure times. Performing the contrast agent injection under MRI guidance could overcome both these issues. However, it comes with the challenges of the MRI environment including high magnetic field strength, limited ergonomic patient access, and lack of real-time needle guidance. We present the development of an integrated robotic system to perform shoulder arthrography procedures under intraoperative MRI guidance, eliminating fluoroscopy/CT guidance and patient transportation from the fluoroscopy/CT room to the MRI suite. The average accuracy of the robotic manipulator in benchtop experiments is 0.90 mm and 1.04 deg, whereas the average accuracy of the integrated system in MRI phantom experiments is 1.92 mm and 1.28 deg at the needle tip. Based on the American Society for Testing and Materials (ASTM) tests performed, the system is classified as MR conditional.\n</div>\n\n\n</div>\n\n\n\n\n\n    </div>\n  </div>\n\n  <div class=\"bibbase_group_whole\" id=\"group_inproceedings\">\n    <div class=\"bibbase_group\"\n      onclick=\"toggleGroup('group_inproceedings')\"\n      onkeypress=\"toggleGroup('group_inproceedings')\"\n      tabindex=\"0\">\n      <i class=\"fa fa-angle-down bibbase_group_head_icon\"></i>&nbsp;\n      <span>inproceedings</span>\n      <span class=\"bibbase_group_count\">\n        \n        (3)\n        \n      </span>\n    </div>\n    <div class=\"bibbase_group_body\">\n      \n  \n  <div class=\"bibbase_paper\" id=\"kim-patel-yan-wu-li-cleary-iordachita-shouldermountedrobotformriguidedarthrographyclinicallyoptimizedsystem-2019\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Shoulder-mounted Robot for MRI-Guided Arthrography: Clinically Optimized System.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Kim, G. H.; <a class=\"bibbase author link\" href=\"https://niravatgit.github.io/INSPIRELab/publications.html#publications\">Patel, N.</a>; Yan, J.; Wu, D.; Li, G.; Cleary, K.;  and Iordachita, I.\n</span>\n\n  \n\n</span>\n\n  In <i>Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS</i>, pages 1977–1980,  2019. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n  <a href=\"http://doi.org/10.1109/EMBC.2019.8856630\"\n     onclick=\"log_download('kim-patel-yan-wu-li-cleary-iordachita-shouldermountedrobotformriguidedarthrographyclinicallyoptimizedsystem-2019', 'http://doi.org/10.1109/EMBC.2019.8856630', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/kim-patel-yan-wu-li-cleary-iordachita-shouldermountedrobotformriguidedarthrographyclinicallyoptimizedsystem-2019\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('kim-patel-yan-wu-li-cleary-iordachita-shouldermountedrobotformriguidedarthrographyclinicallyoptimizedsystem-2019')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{kim2019shoulder,\nabstract = {This paper introduces our compact and lightweight patient-mounted MRI-compatible 4 degree-of-freedom (DOF) robot with an improved transmission system for MRI-guided arthrography procedures. This robot could make the traditional two-stage arthrography procedure (fluoroscopy-guided needle insertion followed by a diagnostic MRI scan) simpler by converting it to a one-stage procedure but more accurate with an optimized system. The new transmission system is proposed, using different mechanical components, to result in higher accuracy of needle insertion. The results of a recent accuracy study are reported. Experimental results show that the new system has an error of 1.7 mm in positioning the needle tip at a depth of 50 mm, which indicates high accuracy.},\nauthor = {Kim, Gyeong Hu and Patel, Niravkumar and Yan, Jiawen and Wu, Di and Li, Gang and Cleary, Kevin and Iordachita, Iulian},\nbooktitle = {Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS},\ndoi = {10.1109/EMBC.2019.8856630},\nisbn = {9781538613115},\nissn = {1557170X},\norganization = {IEEE},\npages = {1977--1980},\npmid = {31946287},\ntitle = {{Shoulder-mounted Robot for MRI-Guided Arthrography: Clinically Optimized System}},\nyear = {2019}\n}\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  This paper introduces our compact and lightweight patient-mounted MRI-compatible 4 degree-of-freedom (DOF) robot with an improved transmission system for MRI-guided arthrography procedures. This robot could make the traditional two-stage arthrography procedure (fluoroscopy-guided needle insertion followed by a diagnostic MRI scan) simpler by converting it to a one-stage procedure but more accurate with an optimized system. The new transmission system is proposed, using different mechanical components, to result in higher accuracy of needle insertion. The results of a recent accuracy study are reported. Experimental results show that the new system has an error of 1.7 mm in positioning the needle tip at a depth of 50 mm, which indicates high accuracy.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"patel-azimi-monfaredi-sharma-cleary-iordachita-roboticsystemformriguidedshoulderarthrographyaccuracyevaluation-2018\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://doi.org/10.1109/ISMR.2018.8333299\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'patel-azimi-monfaredi-sharma-cleary-iordachita-roboticsystemformriguidedshoulderarthrographyaccuracyevaluation-2018', 'https://doi.org/10.1109/ISMR.2018.8333299', event);\">\n    Robotic system for MRI-guided shoulder arthrography: Accuracy evaluation.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  <a class=\"bibbase author link\" href=\"https://niravatgit.github.io/INSPIRELab/publications.html#publications\">Patel, N. A.</a>; Azimi, E.; Monfaredi, R.; Sharma, K.; Cleary, K.;  and Iordachita, I.\n</span>\n\n  \n\n</span>\n\n  In <i>2018 International Symposium on Medical Robotics, ISMR 2018</i>, volume 2018-Janua, pages 1–6,  2018. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://doi.org/10.1109/ISMR.2018.8333299\"\n     onclick=\"log_download('patel-azimi-monfaredi-sharma-cleary-iordachita-roboticsystemformriguidedshoulderarthrographyaccuracyevaluation-2018', 'https://doi.org/10.1109/ISMR.2018.8333299', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Robotic system for MRI-guided shoulder arthrography: Accuracy evaluation [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/10.1109/ISMR.2018.8333299\"\n     onclick=\"log_download('patel-azimi-monfaredi-sharma-cleary-iordachita-roboticsystemformriguidedshoulderarthrographyaccuracyevaluation-2018', 'http://doi.org/10.1109/ISMR.2018.8333299', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/patel-azimi-monfaredi-sharma-cleary-iordachita-roboticsystemformriguidedshoulderarthrographyaccuracyevaluation-2018\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>1 download</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('patel-azimi-monfaredi-sharma-cleary-iordachita-roboticsystemformriguidedshoulderarthrographyaccuracyevaluation-2018')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{patel2018robotic,\nabstract = {This paper introduces a body mounted robotic system for MRI-guided shoulder arthrography in pediatric patients. This robotic manipulator is optimized for being accurate yet light enough to perform the contrast agent injection and joint examination imaging inside the MRI bore. The robotic manipulator has 4 degrees of freedom (DOF) providing accurate insertion trajectory of the injection needle. In shoulder arthrography procedures, contrast agent is injected under fluoroscope guidance resulting in radiation exposure which should be avoided for pediatric patients. Also after contrast agent injection typically MRI images are acquired for examination resulting in two stage procedure. The presented system allows clinicians to perform both contrast agent injection and joint examination under MRI guidance, hence completely eliminating radiation exposure from fluoroscope guidance and patient movement from X-Ray/CT room to MRI suite. The presented system contains no ferrous components and is considered MR-Conditional. The bench-top accuracy evaluation of the robotic manipulator shows average pose error of 1.22 mm in position and 1 degree in orientation at the needle tip.},\nauthor = {Patel, Niravkumar A. and Azimi, Ehsan and Monfaredi, Reza and Sharma, Karun and Cleary, Kevin and Iordachita, Iulian},\nbooktitle = {2018 International Symposium on Medical Robotics, ISMR 2018},\ndoi = {10.1109/ISMR.2018.8333299},\nisbn = {9781538625125},\norganization = {IEEE},\npages = {1--6},\ntitle = {{Robotic system for MRI-guided shoulder arthrography: Accuracy evaluation}},\nurl = {https://doi.org/10.1109/ISMR.2018.8333299},\nvolume = {2018-Janua},\nyear = {2018}\n}\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  This paper introduces a body mounted robotic system for MRI-guided shoulder arthrography in pediatric patients. This robotic manipulator is optimized for being accurate yet light enough to perform the contrast agent injection and joint examination imaging inside the MRI bore. The robotic manipulator has 4 degrees of freedom (DOF) providing accurate insertion trajectory of the injection needle. In shoulder arthrography procedures, contrast agent is injected under fluoroscope guidance resulting in radiation exposure which should be avoided for pediatric patients. Also after contrast agent injection typically MRI images are acquired for examination resulting in two stage procedure. The presented system allows clinicians to perform both contrast agent injection and joint examination under MRI guidance, hence completely eliminating radiation exposure from fluoroscope guidance and patient movement from X-Ray/CT room to MRI suite. The presented system contains no ferrous components and is considered MR-Conditional. The bench-top accuracy evaluation of the robotic manipulator shows average pose error of 1.22 mm in position and 1 degree in orientation at the needle tip.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"patel-yan-levi-monfaredi-cleary-iordachita-bodymountedrobotforimageguidedpercutaneousinterventionsmechanicaldesignandpreliminaryaccuracyevaluation-2018\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Body-Mounted Robot for Image-Guided Percutaneous Interventions: Mechanical Design and Preliminary Accuracy Evaluation.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  <a class=\"bibbase author link\" href=\"https://niravatgit.github.io/INSPIRELab/publications.html#publications\">Patel, N. A.</a>; Yan, J.; Levi, D.; Monfaredi, R.; Cleary, K.;  and Iordachita, I.\n</span>\n\n  \n\n</span>\n\n  In <i>IEEE International Conference on Intelligent Robots and Systems</i>, pages 1443–1448,  2018. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n  <a href=\"http://doi.org/10.1109/IROS.2018.8593807\"\n     onclick=\"log_download('patel-yan-levi-monfaredi-cleary-iordachita-bodymountedrobotforimageguidedpercutaneousinterventionsmechanicaldesignandpreliminaryaccuracyevaluation-2018', 'http://doi.org/10.1109/IROS.2018.8593807', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/patel-yan-levi-monfaredi-cleary-iordachita-bodymountedrobotforimageguidedpercutaneousinterventionsmechanicaldesignandpreliminaryaccuracyevaluation-2018\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>2 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('patel-yan-levi-monfaredi-cleary-iordachita-bodymountedrobotforimageguidedpercutaneousinterventionsmechanicaldesignandpreliminaryaccuracyevaluation-2018')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{patel2018body,\nabstract = {This paper presents a body-mounted, four degree-of-freedom (4-DOF) parallel mechanism robot for image-guided percutaneous interventions. The design of the robot is optimized to be light weight and compact such that it could be mounted to the patient body. It has a modular design that can be adopted for assisting various image-guided, needle-based percutaneous interventions such as arthrography, biopsy and brachytherapy seed placement. The robot mechanism and the control system are designed and manufactured with components compatible with imaging modalities including Magnetic Resonance Imaging (MRI) and Computed Tomography (CT). The current version of the robot presented in this paper is optimized for shoulder arthrography under MRI guidance; a Z-shaped fiducial frame is attached to the robot, providing accurate and repeatable robot registration with the MR scanner coordinate system. Here we present the mechanical design of the manipulator, robot kinematics, robot calibration procedure, and preliminary bench-top accuracy assessment. The bench-top accuracy evaluation of the robotic manipulator shows average translational error of 1.01 mm and 0.96 mm in X and Z axes, respectively, and average rotational error of 3.06 degrees and 2.07 degrees about the X and Z axes, respectively.},\nauthor = {Patel, Niravkumar A. and Yan, Jiawen and Levi, David and Monfaredi, Reza and Cleary, Kevin and Iordachita, Iulian},\nbooktitle = {IEEE International Conference on Intelligent Robots and Systems},\ndoi = {10.1109/IROS.2018.8593807},\nisbn = {9781538680940},\nissn = {21530866},\norganization = {IEEE},\npages = {1443--1448},\ntitle = {{Body-Mounted Robot for Image-Guided Percutaneous Interventions: Mechanical Design and Preliminary Accuracy Evaluation}},\nyear = {2018}\n}\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  This paper presents a body-mounted, four degree-of-freedom (4-DOF) parallel mechanism robot for image-guided percutaneous interventions. The design of the robot is optimized to be light weight and compact such that it could be mounted to the patient body. It has a modular design that can be adopted for assisting various image-guided, needle-based percutaneous interventions such as arthrography, biopsy and brachytherapy seed placement. The robot mechanism and the control system are designed and manufactured with components compatible with imaging modalities including Magnetic Resonance Imaging (MRI) and Computed Tomography (CT). The current version of the robot presented in this paper is optimized for shoulder arthrography under MRI guidance; a Z-shaped fiducial frame is attached to the robot, providing accurate and repeatable robot registration with the MR scanner coordinate system. Here we present the mechanical design of the manipulator, robot kinematics, robot calibration procedure, and preliminary bench-top accuracy assessment. The bench-top accuracy evaluation of the robotic manipulator shows average translational error of 1.01 mm and 0.96 mm in X and Z axes, respectively, and average rotational error of 3.06 degrees and 2.07 degrees about the X and Z axes, respectively.\n</div>\n\n\n</div>\n\n\n\n\n\n    </div>\n  </div>\n\n\n\n\n  </div>\n\n\n  <!-- Modal -->\n\n  <!-- <iframe id=\"bibbase_network_frame\" -->\n  <!--         src=\"//bibbase.org/network/control\" -->\n  <!--         style=\"display: none;\"> -->\n  <!-- </iframe> -->\n\n</div>\n"}; document.write(bibbase_data.data);