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:patel2018neurosurgery|li2018neurosurgery|katie2018|nirav2016|macdonell2018magnetic|macdonell2018robotic|patel2015closed|nycz2017mechanical\",\"host\":\"bibbase.org\"},\n      data: [{\"bibtype\":\"article\",\"type\":\"article\",\"abstract\":\"Background: Ablative lesions are current treatments for epilepsy and brain tumors. Interstitial magnetic resonance (MR) guided focused ultrasound (iMRgFUS) may be an alternate ablation technique which limits thermal tissue charring as compared to laser therapy (LITT) and can produce larger ablation patterns nearer the surface than transcranial MR guided focused ultrasound (tcMRgFUS). Objective: To describe our experience with interstitial focused ultrasound (iFUS) ablations in swine, using MR-guided robotically assisted (MRgRA) delivery. Methods: In an initial 3 animals, we optimized the workflow of the robot in the MR suite and made modifications to the robotic arm to allow range of motion. Then, 6 farm pigs (4 acute, 2 survival) underwent 7 iMRgFUS ablations using MRgRA. We altered dosing to explore differences between thermal dosing in brain as compared to other tissues. Imaging was compared to gross examination. Results: Our work culminated in adjustments to the MRgRA, iMRgFUS probes, and dosing, culminating in 2 survival surgeries; swine had ablations with no neurological sequelae at 2 wk postprocedure. Immediately following iMRgFUS therapy, diffusionweighted imaging, and T1 weighted MR were accurate reflections of the ablation volume. T2 and fluid-attenuated inversion-recovery (FLAIR) images were accurate reflections of ablation volume 1-wk postprocedure. Conclusion:We successfully performedMRgRA iFUS ablation in swine and found intraoperative and postoperative imaging to correlate with histological examination. These data are useful to validate our system and to guide imaging follow-up for thermal ablation lesions in brain tissue from our therapy, tcMRgFUS, and LITT.\",\"author\":[{\"propositions\":[],\"lastnames\":[\"MacDonell\"],\"firstnames\":[\"Jacquelyn\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Patel\"],\"firstnames\":[\"Niravkumar\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Fischer\"],\"firstnames\":[\"Gregory\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Burdette\"],\"firstnames\":[\"E.\",\"Clif\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Qian\"],\"firstnames\":[\"Jiang\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Chumbalkar\"],\"firstnames\":[\"Vaibhav\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Ghoshal\"],\"firstnames\":[\"Goutam\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Heffter\"],\"firstnames\":[\"Tamas\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Williams\"],\"firstnames\":[\"Emery\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Gounis\"],\"firstnames\":[\"Matthew\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"King\"],\"firstnames\":[\"Robert\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Thibodeau\"],\"firstnames\":[\"Juliette\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bogdanov\"],\"firstnames\":[\"Gene\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Brooks\"],\"firstnames\":[\"Olivia\",\"W.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Langan\"],\"firstnames\":[\"Erin\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Hwang\"],\"firstnames\":[\"Roy\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Pilitsis\"],\"firstnames\":[\"Julie\",\"G.\"],\"suffixes\":[]}],\"doi\":\"10.1093/neuros/nyy266\",\"issn\":\"15244040\",\"journal\":\"Neurosurgery\",\"keywords\":\"Brain tumor,High intensity focused ultrasound,Interstitial focused ultrasound,MRI-Guided,Neural ablation,Robot assisted surgery\",\"number\":\"5\",\"pages\":\"1138–1147\",\"pmid\":\"29905844\",\"title\":\"Robotic Assisted MRI-guided interventional interstitial MR-guided focused ultrasound ablation in a swine model\",\"url\":\"https://doi.org/10.1093/neuros/nyy266\",\"volume\":\"84\",\"year\":\"2019\",\"bibtex\":\"@article{macdonell2018robotic,\\nabstract = {Background: Ablative lesions are current treatments for epilepsy and brain tumors. Interstitial magnetic resonance (MR) guided focused ultrasound (iMRgFUS) may be an alternate ablation technique which limits thermal tissue charring as compared to laser therapy (LITT) and can produce larger ablation patterns nearer the surface than transcranial MR guided focused ultrasound (tcMRgFUS). Objective: To describe our experience with interstitial focused ultrasound (iFUS) ablations in swine, using MR-guided robotically assisted (MRgRA) delivery. Methods: In an initial 3 animals, we optimized the workflow of the robot in the MR suite and made modifications to the robotic arm to allow range of motion. Then, 6 farm pigs (4 acute, 2 survival) underwent 7 iMRgFUS ablations using MRgRA. We altered dosing to explore differences between thermal dosing in brain as compared to other tissues. Imaging was compared to gross examination. Results: Our work culminated in adjustments to the MRgRA, iMRgFUS probes, and dosing, culminating in 2 survival surgeries; swine had ablations with no neurological sequelae at 2 wk postprocedure. Immediately following iMRgFUS therapy, diffusionweighted imaging, and T1 weighted MR were accurate reflections of the ablation volume. T2 and fluid-attenuated inversion-recovery (FLAIR) images were accurate reflections of ablation volume 1-wk postprocedure. Conclusion:We successfully performedMRgRA iFUS ablation in swine and found intraoperative and postoperative imaging to correlate with histological examination. These data are useful to validate our system and to guide imaging follow-up for thermal ablation lesions in brain tissue from our therapy, tcMRgFUS, and LITT.},\\nauthor = {MacDonell, Jacquelyn and Patel, Niravkumar and Fischer, Gregory and Burdette, E. Clif and Qian, Jiang and Chumbalkar, Vaibhav and Ghoshal, Goutam and Heffter, Tamas and Williams, Emery and Gounis, Matthew and King, Robert and Thibodeau, Juliette and Bogdanov, Gene and Brooks, Olivia W. and Langan, Erin and Hwang, Roy and Pilitsis, Julie G.},\\ndoi = {10.1093/neuros/nyy266},\\nissn = {15244040},\\njournal = {Neurosurgery},\\nkeywords = {Brain tumor,High intensity focused ultrasound,Interstitial focused ultrasound,MRI-Guided,Neural ablation,Robot assisted surgery},\\nnumber = {5},\\npages = {1138--1147},\\npmid = {29905844},\\ntitle = {{Robotic Assisted MRI-guided interventional interstitial MR-guided focused ultrasound ablation in a swine model}},\\nurl = {https://doi.org/10.1093/neuros/nyy266},\\nvolume = {84},\\nyear = {2019}\\n}\\n\",\"author_short\":[\"MacDonell, J.\",\"Patel, N.\",\"Fischer, G.\",\"Burdette, E. C.\",\"Qian, J.\",\"Chumbalkar, V.\",\"Ghoshal, G.\",\"Heffter, T.\",\"Williams, E.\",\"Gounis, M.\",\"King, R.\",\"Thibodeau, J.\",\"Bogdanov, G.\",\"Brooks, O. W.\",\"Langan, E.\",\"Hwang, R.\",\"Pilitsis, J. G.\"],\"key\":\"macdonell2018robotic\",\"id\":\"macdonell2018robotic\",\"bibbaseid\":\"macdonell-patel-fischer-burdette-qian-chumbalkar-ghoshal-heffter-etal-roboticassistedmriguidedinterventionalinterstitialmrguidedfocusedultrasoundablationinaswinemodel-2019\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://doi.org/10.1093/neuros/nyy266\"},\"keyword\":[\"Brain tumor\",\"High intensity focused ultrasound\",\"Interstitial focused ultrasound\",\"MRI-Guided\",\"Neural ablation\",\"Robot assisted surgery\"],\"metadata\":{\"authorlinks\":{\"patel, n\":\"https://niravatgit.github.io/\"}},\"downloads\":5,\"html\":\"\"},{\"bibtype\":\"article\",\"type\":\"article\",\"abstract\":\"Currently, treatment of brain tumors is limited to resection, chemotherapy, and radiotherapy. Thermal ablation has been recently explored. High-intensity focused ultrasound (HIFU) is being explored as an alternative. Specifically, the authors propose delivering HIFU internally to the tumor with an MRI-guided robotic assistant (MRgRA). The advantage of the authors' interstitial device over external MRI-guided HIFU (MRgHIFU) is that it allows for conformal, precise ablation and concurrent tissue sampling. The authors describe their workflow for MRgRA HIFU delivery.\",\"author\":[{\"propositions\":[],\"lastnames\":[\"MacDonell\"],\"firstnames\":[\"Jacquelyn\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Patel\"],\"firstnames\":[\"Niravkumar\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Rubino\"],\"firstnames\":[\"Sebastian\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Ghoshal\"],\"firstnames\":[\"Goutam\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Fischer\"],\"firstnames\":[\"Gregory\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Clif Burdette\"],\"firstnames\":[\"E.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Hwang\"],\"firstnames\":[\"Roy\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Pilitsis\"],\"firstnames\":[\"Julie\",\"G.\"],\"suffixes\":[]}],\"doi\":\"10.3171/2017.11.FOCUS17613\",\"issn\":\"10920684\",\"journal\":\"Neurosurgical Focus\",\"keywords\":\"Brain tumor,High-intensity focused ultrasound,MRI guided,Neural ablation\",\"number\":\"2\",\"pages\":\"E11\",\"pmid\":\"29385926\",\"publisher\":\"American Association of Neurological Surgeons\",\"title\":\"Magnetic resonance-guided interstitial high-intensity focused ultrasound for brain tumor ablation\",\"url\":\"https://doi.org/10.3171/2017.11.FOCUS17613\",\"volume\":\"44\",\"year\":\"2018\",\"bibtex\":\"@article{macdonell2018magnetic,\\nabstract = {Currently, treatment of brain tumors is limited to resection, chemotherapy, and radiotherapy. Thermal ablation has been recently explored. High-intensity focused ultrasound (HIFU) is being explored as an alternative. Specifically, the authors propose delivering HIFU internally to the tumor with an MRI-guided robotic assistant (MRgRA). The advantage of the authors' interstitial device over external MRI-guided HIFU (MRgHIFU) is that it allows for conformal, precise ablation and concurrent tissue sampling. The authors describe their workflow for MRgRA HIFU delivery.},\\nauthor = {MacDonell, Jacquelyn and Patel, Niravkumar and Rubino, Sebastian and Ghoshal, Goutam and Fischer, Gregory and {Clif Burdette}, E. and Hwang, Roy and Pilitsis, Julie G.},\\ndoi = {10.3171/2017.11.FOCUS17613},\\nissn = {10920684},\\njournal = {Neurosurgical Focus},\\nkeywords = {Brain tumor,High-intensity focused ultrasound,MRI guided,Neural ablation},\\nnumber = {2},\\npages = {E11},\\npmid = {29385926},\\npublisher = {American Association of Neurological Surgeons},\\ntitle = {{Magnetic resonance-guided interstitial high-intensity focused ultrasound for brain tumor ablation}},\\nurl = {https://doi.org/10.3171/2017.11.FOCUS17613},\\nvolume = {44},\\nyear = {2018}\\n}\\n\",\"author_short\":[\"MacDonell, J.\",\"Patel, N.\",\"Rubino, S.\",\"Ghoshal, G.\",\"Fischer, G.\",\"Clif Burdette, E.\",\"Hwang, R.\",\"Pilitsis, J. G.\"],\"key\":\"macdonell2018magnetic\",\"id\":\"macdonell2018magnetic\",\"bibbaseid\":\"macdonell-patel-rubino-ghoshal-fischer-clifburdette-hwang-pilitsis-magneticresonanceguidedinterstitialhighintensityfocusedultrasoundforbraintumorablation-2018\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://doi.org/10.3171/2017.11.FOCUS17613\"},\"keyword\":[\"Brain tumor\",\"High-intensity focused ultrasound\",\"MRI guided\",\"Neural ablation\"],\"metadata\":{\"authorlinks\":{\"patel, n\":\"https://niravatgit.github.io/\"}},\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"abstract\":\"The use of magnetic resonance imaging (MRI) for guiding robotic surgical devices has shown great potential for performing precisely targeted and controlled interventions. To fully realize these benefits, devices must work safely within the tight confines of the MRI bore without negatively impacting image quality. Here we expand on previous work exploring MRI guided robots for neural interventions by presenting the mechanical design and assessment of a device for positioning, orienting, and inserting an interstitial ultrasound-based ablation probe. From our previous work we have added a 2 degree of freedom (DOF) needle driver for use with the aforementioned probe, revised the mechanical design to improve strength and function, and performed an evaluation of the mechanism's accuracy and effect on MR image quality. The result of this work is a 7-DOF MRI robot capable of positioning a needle tip and orienting it's axis with accuracy of 1.37 ± 0.06mm and 0.79° ± 0.41°, inserting it along it's axis with an accuracy of 0.06 ± 0.07mm, and rotating it about it's axis to an accuracy of 0.77° ± 1.31°. This was accomplished with no significant reduction in SNR caused by the robot's presence in the MRI bore, < 10.3% reduction in SNR from running the robot's motors during a scan, and no visible paramagnetic artifacts.\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Nycz\"],\"firstnames\":[\"Christopher\",\"J.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Gondokaryono\"],\"firstnames\":[\"Radian\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Carvalho\"],\"firstnames\":[\"Paulo\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Patel\"],\"firstnames\":[\"Nirav\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Wartenberg\"],\"firstnames\":[\"Marek\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Pilitsis\"],\"firstnames\":[\"Julie\",\"G.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Fischer\"],\"firstnames\":[\"Gregory\",\"S.\"],\"suffixes\":[]}],\"booktitle\":\"IEEE International Conference on Intelligent Robots and Systems\",\"doi\":\"10.1109/IROS.2017.8205979\",\"isbn\":\"9781538626825\",\"issn\":\"21530866\",\"organization\":\"IEEE\",\"pages\":\"1677–1684\",\"title\":\"Mechanical validation of an MRI compatible stereotactic neurosurgery robot in preparation for pre-clinical trials\",\"url\":\"https://doi.org/10.1109/IROS.2017.8205979\",\"volume\":\"2017-Septe\",\"year\":\"2017\",\"bibtex\":\"@inproceedings{nycz2017mechanical,\\nabstract = {The use of magnetic resonance imaging (MRI) for guiding robotic surgical devices has shown great potential for performing precisely targeted and controlled interventions. To fully realize these benefits, devices must work safely within the tight confines of the MRI bore without negatively impacting image quality. Here we expand on previous work exploring MRI guided robots for neural interventions by presenting the mechanical design and assessment of a device for positioning, orienting, and inserting an interstitial ultrasound-based ablation probe. From our previous work we have added a 2 degree of freedom (DOF) needle driver for use with the aforementioned probe, revised the mechanical design to improve strength and function, and performed an evaluation of the mechanism's accuracy and effect on MR image quality. The result of this work is a 7-DOF MRI robot capable of positioning a needle tip and orienting it's axis with accuracy of 1.37 ± 0.06mm and 0.79° ± 0.41°, inserting it along it's axis with an accuracy of 0.06 ± 0.07mm, and rotating it about it's axis to an accuracy of 0.77° ± 1.31°. This was accomplished with no significant reduction in SNR caused by the robot's presence in the MRI bore, < 10.3% reduction in SNR from running the robot's motors during a scan, and no visible paramagnetic artifacts.},\\nauthor = {Nycz, Christopher J. and Gondokaryono, Radian and Carvalho, Paulo and Patel, Nirav and Wartenberg, Marek and Pilitsis, Julie G. and Fischer, Gregory S.},\\nbooktitle = {IEEE International Conference on Intelligent Robots and Systems},\\ndoi = {10.1109/IROS.2017.8205979},\\nisbn = {9781538626825},\\nissn = {21530866},\\norganization = {IEEE},\\npages = {1677--1684},\\ntitle = {{Mechanical validation of an MRI compatible stereotactic neurosurgery robot in preparation for pre-clinical trials}},\\nurl = {https://doi.org/10.1109/IROS.2017.8205979},\\nvolume = {2017-Septe},\\nyear = {2017}\\n}\\n\",\"author_short\":[\"Nycz, C. J.\",\"Gondokaryono, R.\",\"Carvalho, P.\",\"Patel, N.\",\"Wartenberg, M.\",\"Pilitsis, J. G.\",\"Fischer, G. S.\"],\"key\":\"nycz2017mechanical\",\"id\":\"nycz2017mechanical\",\"bibbaseid\":\"nycz-gondokaryono-carvalho-patel-wartenberg-pilitsis-fischer-mechanicalvalidationofanmricompatiblestereotacticneurosurgeryrobotinpreparationforpreclinicaltrials-2017\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://doi.org/10.1109/IROS.2017.8205979\"},\"metadata\":{\"authorlinks\":{\"patel, n\":\"https://niravatgit.github.io/\"}},\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"abstract\":\"Magnetic resonance imaging (MRI) provides excellent image contrast for various types of tissues, making it a suitable choice over other imaging modalities for various image-guided needle interventions. Furthermore, robot-assistance is maturing for surgical procedures such as percutaneous prostate and brain interventions. Although MRI-guided, robot-assisted needle interventions are approaching clinical usage, they are still typically open-loop in nature due to the lack of continuous intraoperative needle tracking. Closed-loop needle-based procedures can improve the accuracy of needle tip placement by correcting the needle trajectory during insertion. This paper proposes a system for robot-assisted, flexible asymmetric-tipped needle interventions under continuous intraoperative MRI guidance. A flexible needle's insertion depth and rotation angle are manipulated by an MRI-compatible robot in the bore of the MRI scanner during continuous multi-planar image acquisition to reach a desired target location. Experiments are performed on gelatin phantoms to assess the accuracy of needle placement into the target location. The system was able to successfully utilize live MR imaging to guide the path of the needle, and results show an average total targeting error of 2.5±0.47mm, with an average in-plane error of 2.09±0.33mm.\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Patel\"],\"firstnames\":[\"Niravkumar\",\"A.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Van Katwijk\"],\"firstnames\":[\"Tim\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Li\"],\"firstnames\":[\"Gang\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Moreira\"],\"firstnames\":[\"Pedro\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Shang\"],\"firstnames\":[\"Weijian\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Misra\"],\"firstnames\":[\"Sarthak\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Fischer\"],\"firstnames\":[\"Gregory\",\"S.\"],\"suffixes\":[]}],\"booktitle\":\"Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS\",\"doi\":\"10.1109/EMBC.2015.7319484\",\"isbn\":\"9781424492718\",\"issn\":\"1557170X\",\"organization\":\"IEEE\",\"pages\":\"4869–4874\",\"pmid\":\"26737384\",\"title\":\"Closed-loop asymmetric-tip needle steering under continuous intraoperative MRI guidance\",\"url\":\"https://doi.org/10.1109/EMBC.2015.7319484\",\"volume\":\"2015-Novem\",\"year\":\"2015\",\"bibtex\":\"@inproceedings{patel2015closed,\\nabstract = {Magnetic resonance imaging (MRI) provides excellent image contrast for various types of tissues, making it a suitable choice over other imaging modalities for various image-guided needle interventions. Furthermore, robot-assistance is maturing for surgical procedures such as percutaneous prostate and brain interventions. Although MRI-guided, robot-assisted needle interventions are approaching clinical usage, they are still typically open-loop in nature due to the lack of continuous intraoperative needle tracking. Closed-loop needle-based procedures can improve the accuracy of needle tip placement by correcting the needle trajectory during insertion. This paper proposes a system for robot-assisted, flexible asymmetric-tipped needle interventions under continuous intraoperative MRI guidance. A flexible needle's insertion depth and rotation angle are manipulated by an MRI-compatible robot in the bore of the MRI scanner during continuous multi-planar image acquisition to reach a desired target location. Experiments are performed on gelatin phantoms to assess the accuracy of needle placement into the target location. The system was able to successfully utilize live MR imaging to guide the path of the needle, and results show an average total targeting error of 2.5±0.47mm, with an average in-plane error of 2.09±0.33mm.},\\nauthor = {Patel, Niravkumar A. and {Van Katwijk}, Tim and Li, Gang and Moreira, Pedro and Shang, Weijian and Misra, Sarthak and Fischer, Gregory S.},\\nbooktitle = {Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS},\\ndoi = {10.1109/EMBC.2015.7319484},\\nisbn = {9781424492718},\\nissn = {1557170X},\\norganization = {IEEE},\\npages = {4869--4874},\\npmid = {26737384},\\ntitle = {{Closed-loop asymmetric-tip needle steering under continuous intraoperative MRI guidance}},\\nurl = {https://doi.org/10.1109/EMBC.2015.7319484},\\nvolume = {2015-Novem},\\nyear = {2015}\\n}\\n\",\"author_short\":[\"Patel, N. A.\",\"Van Katwijk, T.\",\"Li, G.\",\"Moreira, P.\",\"Shang, W.\",\"Misra, S.\",\"Fischer, G. S.\"],\"key\":\"patel2015closed\",\"id\":\"patel2015closed\",\"bibbaseid\":\"patel-vankatwijk-li-moreira-shang-misra-fischer-closedloopasymmetrictipneedlesteeringundercontinuousintraoperativemriguidance-2015\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://doi.org/10.1109/EMBC.2015.7319484\"},\"metadata\":{\"authorlinks\":{\"patel, n\":\"https://niravatgit.github.io/\"}},\"downloads\":3,\"html\":\"\"}],\n      metadata: {\"owner\":\"patel, n\",\"authorlinks\":{\"patel, n\":\"https://niravatgit.github.io/\"}},\n      ownerID: \"Er2nn5yXXco8b6t3M\"\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,@article{macdonell2018robotic,
abstract = {Background: Ablative lesions are current treatments for epilepsy and brain tumors. Interstitial magnetic resonance (MR) guided focused ultrasound (iMRgFUS) may be an alternate ablation technique which limits thermal tissue charring as compared to laser therapy (LITT) and can produce larger ablation patterns nearer the surface than transcranial MR guided focused ultrasound (tcMRgFUS). Objective: To describe our experience with interstitial focused ultrasound (iFUS) ablations in swine, using MR-guided robotically assisted (MRgRA) delivery. Methods: In an initial 3 animals, we optimized the workflow of the robot in the MR suite and made modifications to the robotic arm to allow range of motion. Then, 6 farm pigs (4 acute, 2 survival) underwent 7 iMRgFUS ablations using MRgRA. We altered dosing to explore differences between thermal dosing in brain as compared to other tissues. Imaging was compared to gross examination. Results: Our work culminated in adjustments to the MRgRA, iMRgFUS probes, and dosing, culminating in 2 survival surgeries; swine had ablations with no neurological sequelae at 2 wk postprocedure. Immediately following iMRgFUS therapy, diffusionweighted imaging, and T1 weighted MR were accurate reflections of the ablation volume. T2 and fluid-attenuated inversion-recovery (FLAIR) images were accurate reflections of ablation volume 1-wk postprocedure. Conclusion:We successfully performedMRgRA iFUS ablation in swine and found intraoperative and postoperative imaging to correlate with histological examination. These data are useful to validate our system and to guide imaging follow-up for thermal ablation lesions in brain tissue from our therapy, tcMRgFUS, and LITT.},
author = {MacDonell, Jacquelyn and Patel, Niravkumar and Fischer, Gregory and Burdette, E. Clif and Qian, Jiang and Chumbalkar, Vaibhav and Ghoshal, Goutam and Heffter, Tamas and Williams, Emery and Gounis, Matthew and King, Robert and Thibodeau, Juliette and Bogdanov, Gene and Brooks, Olivia W. and Langan, Erin and Hwang, Roy and Pilitsis, Julie G.},
doi = {10.1093/neuros/nyy266},
issn = {15244040},
journal = {Neurosurgery},
keywords = {Brain tumor,High intensity focused ultrasound,Interstitial focused ultrasound,MRI-Guided,Neural ablation,Robot assisted surgery},
number = {5},
pages = {1138--1147},
pmid = {29905844},
title = {{Robotic Assisted MRI-guided interventional interstitial MR-guided focused ultrasound ablation in a swine model}},
url = {https://doi.org/10.1093/neuros/nyy266},
volume = {84},
year = {2019}
}


@article{macdonell2018magnetic,
abstract = {Currently, treatment of brain tumors is limited to resection, chemotherapy, and radiotherapy. Thermal ablation has been recently explored. High-intensity focused ultrasound (HIFU) is being explored as an alternative. Specifically, the authors propose delivering HIFU internally to the tumor with an MRI-guided robotic assistant (MRgRA). The advantage of the authors' interstitial device over external MRI-guided HIFU (MRgHIFU) is that it allows for conformal, precise ablation and concurrent tissue sampling. The authors describe their workflow for MRgRA HIFU delivery.},
author = {MacDonell, Jacquelyn and Patel, Niravkumar and Rubino, Sebastian and Ghoshal, Goutam and Fischer, Gregory and {Clif Burdette}, E. and Hwang, Roy and Pilitsis, Julie G.},
doi = {10.3171/2017.11.FOCUS17613},
issn = {10920684},
journal = {Neurosurgical Focus},
keywords = {Brain tumor,High-intensity focused ultrasound,MRI guided,Neural ablation},
number = {2},
pages = {E11},
pmid = {29385926},
publisher = {American Association of Neurological Surgeons},
title = {{Magnetic resonance-guided interstitial high-intensity focused ultrasound for brain tumor ablation}},
url = {https://doi.org/10.3171/2017.11.FOCUS17613},
volume = {44},
year = {2018}
}


@inproceedings{nycz2017mechanical,
abstract = {The use of magnetic resonance imaging (MRI) for guiding robotic surgical devices has shown great potential for performing precisely targeted and controlled interventions. To fully realize these benefits, devices must work safely within the tight confines of the MRI bore without negatively impacting image quality. Here we expand on previous work exploring MRI guided robots for neural interventions by presenting the mechanical design and assessment of a device for positioning, orienting, and inserting an interstitial ultrasound-based ablation probe. From our previous work we have added a 2 degree of freedom (DOF) needle driver for use with the aforementioned probe, revised the mechanical design to improve strength and function, and performed an evaluation of the mechanism's accuracy and effect on MR image quality. The result of this work is a 7-DOF MRI robot capable of positioning a needle tip and orienting it's axis with accuracy of 1.37 ± 0.06mm and 0.79° ± 0.41°, inserting it along it's axis with an accuracy of 0.06 ± 0.07mm, and rotating it about it's axis to an accuracy of 0.77° ± 1.31°. This was accomplished with no significant reduction in SNR caused by the robot's presence in the MRI bore, < 10.3% reduction in SNR from running the robot's motors during a scan, and no visible paramagnetic artifacts.},
author = {Nycz, Christopher J. and Gondokaryono, Radian and Carvalho, Paulo and Patel, Nirav and Wartenberg, Marek and Pilitsis, Julie G. and Fischer, Gregory S.},
booktitle = {IEEE International Conference on Intelligent Robots and Systems},
doi = {10.1109/IROS.2017.8205979},
isbn = {9781538626825},
issn = {21530866},
organization = {IEEE},
pages = {1677--1684},
title = {{Mechanical validation of an MRI compatible stereotactic neurosurgery robot in preparation for pre-clinical trials}},
url = {https://doi.org/10.1109/IROS.2017.8205979},
volume = {2017-Septe},
year = {2017}
}


@inproceedings{patel2015closed,
abstract = {Magnetic resonance imaging (MRI) provides excellent image contrast for various types of tissues, making it a suitable choice over other imaging modalities for various image-guided needle interventions. Furthermore, robot-assistance is maturing for surgical procedures such as percutaneous prostate and brain interventions. Although MRI-guided, robot-assisted needle interventions are approaching clinical usage, they are still typically open-loop in nature due to the lack of continuous intraoperative needle tracking. Closed-loop needle-based procedures can improve the accuracy of needle tip placement by correcting the needle trajectory during insertion. This paper proposes a system for robot-assisted, flexible asymmetric-tipped needle interventions under continuous intraoperative MRI guidance. A flexible needle's insertion depth and rotation angle are manipulated by an MRI-compatible robot in the bore of the MRI scanner during continuous multi-planar image acquisition to reach a desired target location. Experiments are performed on gelatin phantoms to assess the accuracy of needle placement into the target location. The system was able to successfully utilize live MR imaging to guide the path of the needle, and results show an average total targeting error of 2.5±0.47mm, with an average in-plane error of 2.09±0.33mm.},
author = {Patel, Niravkumar A. and {Van Katwijk}, Tim and Li, Gang and Moreira, Pedro and Shang, Weijian and Misra, Sarthak and Fischer, Gregory S.},
booktitle = {Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS},
doi = {10.1109/EMBC.2015.7319484},
isbn = {9781424492718},
issn = {1557170X},
organization = {IEEE},
pages = {4869--4874},
pmid = {26737384},
title = {{Closed-loop asymmetric-tip needle steering under continuous intraoperative MRI guidance}},
url = {https://doi.org/10.1109/EMBC.2015.7319484},
volume = {2015-Novem},
year = {2015}
}
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C.; Qian, J.; Chumbalkar, V.; Ghoshal, G.; Heffter, T.; Williams, E.; Gounis, M.; King, R.; Thibodeau, J.; Bogdanov, G.; Brooks, O. W.; Langan, E.; Hwang, R.;  and Pilitsis, J. G.\n</span>\n\n  \n\n</span>\n\n  <i>Neurosurgery</i>, 84(5): 1138–1147.  2019.\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/10.1093/neuros/nyy266\"\n     onclick=\"log_download('macdonell-patel-fischer-burdette-qian-chumbalkar-ghoshal-heffter-etal-roboticassistedmriguidedinterventionalinterstitialmrguidedfocusedultrasoundablationinaswinemodel-2019', 'https://doi.org/10.1093/neuros/nyy266', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Robotic Assisted MRI-guided interventional interstitial MR-guided focused ultrasound ablation in a swine model [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/10.1093/neuros/nyy266\"\n     onclick=\"log_download('macdonell-patel-fischer-burdette-qian-chumbalkar-ghoshal-heffter-etal-roboticassistedmriguidedinterventionalinterstitialmrguidedfocusedultrasoundablationinaswinemodel-2019', 'http://doi.org/10.1093/neuros/nyy266', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/macdonell-patel-fischer-burdette-qian-chumbalkar-ghoshal-heffter-etal-roboticassistedmriguidedinterventionalinterstitialmrguidedfocusedultrasoundablationinaswinemodel-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  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>5 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('macdonell-patel-fischer-burdette-qian-chumbalkar-ghoshal-heffter-etal-roboticassistedmriguidedinterventionalinterstitialmrguidedfocusedultrasoundablationinaswinemodel-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  \n  \n  \n  \n  \n  \n  \n  \n  \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;\">@article{macdonell2018robotic,\nabstract = {Background: Ablative lesions are current treatments for epilepsy and brain tumors. Interstitial magnetic resonance (MR) guided focused ultrasound (iMRgFUS) may be an alternate ablation technique which limits thermal tissue charring as compared to laser therapy (LITT) and can produce larger ablation patterns nearer the surface than transcranial MR guided focused ultrasound (tcMRgFUS). Objective: To describe our experience with interstitial focused ultrasound (iFUS) ablations in swine, using MR-guided robotically assisted (MRgRA) delivery. Methods: In an initial 3 animals, we optimized the workflow of the robot in the MR suite and made modifications to the robotic arm to allow range of motion. Then, 6 farm pigs (4 acute, 2 survival) underwent 7 iMRgFUS ablations using MRgRA. We altered dosing to explore differences between thermal dosing in brain as compared to other tissues. Imaging was compared to gross examination. Results: Our work culminated in adjustments to the MRgRA, iMRgFUS probes, and dosing, culminating in 2 survival surgeries; swine had ablations with no neurological sequelae at 2 wk postprocedure. Immediately following iMRgFUS therapy, diffusionweighted imaging, and T1 weighted MR were accurate reflections of the ablation volume. T2 and fluid-attenuated inversion-recovery (FLAIR) images were accurate reflections of ablation volume 1-wk postprocedure. Conclusion:We successfully performedMRgRA iFUS ablation in swine and found intraoperative and postoperative imaging to correlate with histological examination. These data are useful to validate our system and to guide imaging follow-up for thermal ablation lesions in brain tissue from our therapy, tcMRgFUS, and LITT.},\nauthor = {MacDonell, Jacquelyn and Patel, Niravkumar and Fischer, Gregory and Burdette, E. Clif and Qian, Jiang and Chumbalkar, Vaibhav and Ghoshal, Goutam and Heffter, Tamas and Williams, Emery and Gounis, Matthew and King, Robert and Thibodeau, Juliette and Bogdanov, Gene and Brooks, Olivia W. and Langan, Erin and Hwang, Roy and Pilitsis, Julie G.},\ndoi = {10.1093/neuros/nyy266},\nissn = {15244040},\njournal = {Neurosurgery},\nkeywords = {Brain tumor,High intensity focused ultrasound,Interstitial focused ultrasound,MRI-Guided,Neural ablation,Robot assisted surgery},\nnumber = {5},\npages = {1138--1147},\npmid = {29905844},\ntitle = {{Robotic Assisted MRI-guided interventional interstitial MR-guided focused ultrasound ablation in a swine model}},\nurl = {https://doi.org/10.1093/neuros/nyy266},\nvolume = {84},\nyear = {2019}\n}\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  Background: Ablative lesions are current treatments for epilepsy and brain tumors. Interstitial magnetic resonance (MR) guided focused ultrasound (iMRgFUS) may be an alternate ablation technique which limits thermal tissue charring as compared to laser therapy (LITT) and can produce larger ablation patterns nearer the surface than transcranial MR guided focused ultrasound (tcMRgFUS). Objective: To describe our experience with interstitial focused ultrasound (iFUS) ablations in swine, using MR-guided robotically assisted (MRgRA) delivery. Methods: In an initial 3 animals, we optimized the workflow of the robot in the MR suite and made modifications to the robotic arm to allow range of motion. Then, 6 farm pigs (4 acute, 2 survival) underwent 7 iMRgFUS ablations using MRgRA. We altered dosing to explore differences between thermal dosing in brain as compared to other tissues. Imaging was compared to gross examination. Results: Our work culminated in adjustments to the MRgRA, iMRgFUS probes, and dosing, culminating in 2 survival surgeries; swine had ablations with no neurological sequelae at 2 wk postprocedure. Immediately following iMRgFUS therapy, diffusionweighted imaging, and T1 weighted MR were accurate reflections of the ablation volume. T2 and fluid-attenuated inversion-recovery (FLAIR) images were accurate reflections of ablation volume 1-wk postprocedure. Conclusion:We successfully performedMRgRA iFUS ablation in swine and found intraoperative and postoperative imaging to correlate with histological examination. These data are useful to validate our system and to guide imaging follow-up for thermal ablation lesions in brain tissue from our therapy, tcMRgFUS, and LITT.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"macdonell-patel-rubino-ghoshal-fischer-clifburdette-hwang-pilitsis-magneticresonanceguidedinterstitialhighintensityfocusedultrasoundforbraintumorablation-2018\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://doi.org/10.3171/2017.11.FOCUS17613\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'macdonell-patel-rubino-ghoshal-fischer-clifburdette-hwang-pilitsis-magneticresonanceguidedinterstitialhighintensityfocusedultrasoundforbraintumorablation-2018', 'https://doi.org/10.3171/2017.11.FOCUS17613', event);\">\n    Magnetic resonance-guided interstitial high-intensity focused ultrasound for brain tumor ablation.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  MacDonell, J.; <a class=\"bibbase author link\" href=\"https://niravatgit.github.io/\">Patel, N.</a>; Rubino, S.; Ghoshal, G.; Fischer, G.; Clif Burdette, E.; Hwang, R.;  and Pilitsis, J. G.\n</span>\n\n  \n\n</span>\n\n  <i>Neurosurgical Focus</i>, 44(2): E11.  2018.\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/10.3171/2017.11.FOCUS17613\"\n     onclick=\"log_download('macdonell-patel-rubino-ghoshal-fischer-clifburdette-hwang-pilitsis-magneticresonanceguidedinterstitialhighintensityfocusedultrasoundforbraintumorablation-2018', 'https://doi.org/10.3171/2017.11.FOCUS17613', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Magnetic resonance-guided interstitial high-intensity focused ultrasound for brain tumor ablation [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/10.3171/2017.11.FOCUS17613\"\n     onclick=\"log_download('macdonell-patel-rubino-ghoshal-fischer-clifburdette-hwang-pilitsis-magneticresonanceguidedinterstitialhighintensityfocusedultrasoundforbraintumorablation-2018', 'http://doi.org/10.3171/2017.11.FOCUS17613', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/macdonell-patel-rubino-ghoshal-fischer-clifburdette-hwang-pilitsis-magneticresonanceguidedinterstitialhighintensityfocusedultrasoundforbraintumorablation-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\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('macdonell-patel-rubino-ghoshal-fischer-clifburdette-hwang-pilitsis-magneticresonanceguidedinterstitialhighintensityfocusedultrasoundforbraintumorablation-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  \n  \n  \n  \n  \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;\">@article{macdonell2018magnetic,\nabstract = {Currently, treatment of brain tumors is limited to resection, chemotherapy, and radiotherapy. Thermal ablation has been recently explored. High-intensity focused ultrasound (HIFU) is being explored as an alternative. Specifically, the authors propose delivering HIFU internally to the tumor with an MRI-guided robotic assistant (MRgRA). The advantage of the authors&#x27; interstitial device over external MRI-guided HIFU (MRgHIFU) is that it allows for conformal, precise ablation and concurrent tissue sampling. The authors describe their workflow for MRgRA HIFU delivery.},\nauthor = {MacDonell, Jacquelyn and Patel, Niravkumar and Rubino, Sebastian and Ghoshal, Goutam and Fischer, Gregory and {Clif Burdette}, E. and Hwang, Roy and Pilitsis, Julie G.},\ndoi = {10.3171/2017.11.FOCUS17613},\nissn = {10920684},\njournal = {Neurosurgical Focus},\nkeywords = {Brain tumor,High-intensity focused ultrasound,MRI guided,Neural ablation},\nnumber = {2},\npages = {E11},\npmid = {29385926},\npublisher = {American Association of Neurological Surgeons},\ntitle = {{Magnetic resonance-guided interstitial high-intensity focused ultrasound for brain tumor ablation}},\nurl = {https://doi.org/10.3171/2017.11.FOCUS17613},\nvolume = {44},\nyear = {2018}\n}\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  Currently, treatment of brain tumors is limited to resection, chemotherapy, and radiotherapy. Thermal ablation has been recently explored. High-intensity focused ultrasound (HIFU) is being explored as an alternative. Specifically, the authors propose delivering HIFU internally to the tumor with an MRI-guided robotic assistant (MRgRA). The advantage of the authors' interstitial device over external MRI-guided HIFU (MRgHIFU) is that it allows for conformal, precise ablation and concurrent tissue sampling. The authors describe their workflow for MRgRA HIFU delivery.\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        (2)\n        \n      </span>\n    </div>\n    <div class=\"bibbase_group_body\">\n      \n  \n  <div class=\"bibbase_paper\" id=\"nycz-gondokaryono-carvalho-patel-wartenberg-pilitsis-fischer-mechanicalvalidationofanmricompatiblestereotacticneurosurgeryrobotinpreparationforpreclinicaltrials-2017\">\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/IROS.2017.8205979\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'nycz-gondokaryono-carvalho-patel-wartenberg-pilitsis-fischer-mechanicalvalidationofanmricompatiblestereotacticneurosurgeryrobotinpreparationforpreclinicaltrials-2017', 'https://doi.org/10.1109/IROS.2017.8205979', event);\">\n    Mechanical validation of an MRI compatible stereotactic neurosurgery robot in preparation for pre-clinical trials.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Nycz, C. J.; Gondokaryono, R.; Carvalho, P.; <a class=\"bibbase author link\" href=\"https://niravatgit.github.io/\">Patel, N.</a>; Wartenberg, M.; Pilitsis, J. G.;  and Fischer, G. S.\n</span>\n\n  \n\n</span>\n\n  In <i>IEEE International Conference on Intelligent Robots and Systems</i>, volume 2017-Septe, pages 1677–1684,  2017. 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/IROS.2017.8205979\"\n     onclick=\"log_download('nycz-gondokaryono-carvalho-patel-wartenberg-pilitsis-fischer-mechanicalvalidationofanmricompatiblestereotacticneurosurgeryrobotinpreparationforpreclinicaltrials-2017', 'https://doi.org/10.1109/IROS.2017.8205979', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Mechanical validation of an MRI compatible stereotactic neurosurgery robot in preparation for pre-clinical trials [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/IROS.2017.8205979\"\n     onclick=\"log_download('nycz-gondokaryono-carvalho-patel-wartenberg-pilitsis-fischer-mechanicalvalidationofanmricompatiblestereotacticneurosurgeryrobotinpreparationforpreclinicaltrials-2017', 'http://doi.org/10.1109/IROS.2017.8205979', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/nycz-gondokaryono-carvalho-patel-wartenberg-pilitsis-fischer-mechanicalvalidationofanmricompatiblestereotacticneurosurgeryrobotinpreparationforpreclinicaltrials-2017\"\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('nycz-gondokaryono-carvalho-patel-wartenberg-pilitsis-fischer-mechanicalvalidationofanmricompatiblestereotacticneurosurgeryrobotinpreparationforpreclinicaltrials-2017')\" -->\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{nycz2017mechanical,\nabstract = {The use of magnetic resonance imaging (MRI) for guiding robotic surgical devices has shown great potential for performing precisely targeted and controlled interventions. To fully realize these benefits, devices must work safely within the tight confines of the MRI bore without negatively impacting image quality. Here we expand on previous work exploring MRI guided robots for neural interventions by presenting the mechanical design and assessment of a device for positioning, orienting, and inserting an interstitial ultrasound-based ablation probe. From our previous work we have added a 2 degree of freedom (DOF) needle driver for use with the aforementioned probe, revised the mechanical design to improve strength and function, and performed an evaluation of the mechanism&#x27;s accuracy and effect on MR image quality. The result of this work is a 7-DOF MRI robot capable of positioning a needle tip and orienting it&#x27;s axis with accuracy of 1.37 ± 0.06mm and 0.79° ± 0.41°, inserting it along it&#x27;s axis with an accuracy of 0.06 ± 0.07mm, and rotating it about it&#x27;s axis to an accuracy of 0.77° ± 1.31°. This was accomplished with no significant reduction in SNR caused by the robot&#x27;s presence in the MRI bore, &lt; 10.3% reduction in SNR from running the robot&#x27;s motors during a scan, and no visible paramagnetic artifacts.},\nauthor = {Nycz, Christopher J. and Gondokaryono, Radian and Carvalho, Paulo and Patel, Nirav and Wartenberg, Marek and Pilitsis, Julie G. and Fischer, Gregory S.},\nbooktitle = {IEEE International Conference on Intelligent Robots and Systems},\ndoi = {10.1109/IROS.2017.8205979},\nisbn = {9781538626825},\nissn = {21530866},\norganization = {IEEE},\npages = {1677--1684},\ntitle = {{Mechanical validation of an MRI compatible stereotactic neurosurgery robot in preparation for pre-clinical trials}},\nurl = {https://doi.org/10.1109/IROS.2017.8205979},\nvolume = {2017-Septe},\nyear = {2017}\n}\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  The use of magnetic resonance imaging (MRI) for guiding robotic surgical devices has shown great potential for performing precisely targeted and controlled interventions. To fully realize these benefits, devices must work safely within the tight confines of the MRI bore without negatively impacting image quality. Here we expand on previous work exploring MRI guided robots for neural interventions by presenting the mechanical design and assessment of a device for positioning, orienting, and inserting an interstitial ultrasound-based ablation probe. From our previous work we have added a 2 degree of freedom (DOF) needle driver for use with the aforementioned probe, revised the mechanical design to improve strength and function, and performed an evaluation of the mechanism's accuracy and effect on MR image quality. The result of this work is a 7-DOF MRI robot capable of positioning a needle tip and orienting it's axis with accuracy of 1.37 ± 0.06mm and 0.79° ± 0.41°, inserting it along it's axis with an accuracy of 0.06 ± 0.07mm, and rotating it about it's axis to an accuracy of 0.77° ± 1.31°. This was accomplished with no significant reduction in SNR caused by the robot's presence in the MRI bore, < 10.3% reduction in SNR from running the robot's motors during a scan, and no visible paramagnetic artifacts.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"patel-vankatwijk-li-moreira-shang-misra-fischer-closedloopasymmetrictipneedlesteeringundercontinuousintraoperativemriguidance-2015\">\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/EMBC.2015.7319484\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'patel-vankatwijk-li-moreira-shang-misra-fischer-closedloopasymmetrictipneedlesteeringundercontinuousintraoperativemriguidance-2015', 'https://doi.org/10.1109/EMBC.2015.7319484', event);\">\n    Closed-loop asymmetric-tip needle steering under continuous intraoperative MRI guidance.\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/\">Patel, N. A.</a>; Van Katwijk, T.; Li, G.; Moreira, P.; Shang, W.; Misra, S.;  and Fischer, G. S.\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>, volume 2015-Novem, pages 4869–4874,  2015. 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/EMBC.2015.7319484\"\n     onclick=\"log_download('patel-vankatwijk-li-moreira-shang-misra-fischer-closedloopasymmetrictipneedlesteeringundercontinuousintraoperativemriguidance-2015', 'https://doi.org/10.1109/EMBC.2015.7319484', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Closed-loop asymmetric-tip needle steering under continuous intraoperative MRI guidance [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/EMBC.2015.7319484\"\n     onclick=\"log_download('patel-vankatwijk-li-moreira-shang-misra-fischer-closedloopasymmetrictipneedlesteeringundercontinuousintraoperativemriguidance-2015', 'http://doi.org/10.1109/EMBC.2015.7319484', 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-vankatwijk-li-moreira-shang-misra-fischer-closedloopasymmetrictipneedlesteeringundercontinuousintraoperativemriguidance-2015\"\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>3 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('patel-vankatwijk-li-moreira-shang-misra-fischer-closedloopasymmetrictipneedlesteeringundercontinuousintraoperativemriguidance-2015')\" -->\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{patel2015closed,\nabstract = {Magnetic resonance imaging (MRI) provides excellent image contrast for various types of tissues, making it a suitable choice over other imaging modalities for various image-guided needle interventions. Furthermore, robot-assistance is maturing for surgical procedures such as percutaneous prostate and brain interventions. Although MRI-guided, robot-assisted needle interventions are approaching clinical usage, they are still typically open-loop in nature due to the lack of continuous intraoperative needle tracking. Closed-loop needle-based procedures can improve the accuracy of needle tip placement by correcting the needle trajectory during insertion. This paper proposes a system for robot-assisted, flexible asymmetric-tipped needle interventions under continuous intraoperative MRI guidance. A flexible needle&#x27;s insertion depth and rotation angle are manipulated by an MRI-compatible robot in the bore of the MRI scanner during continuous multi-planar image acquisition to reach a desired target location. Experiments are performed on gelatin phantoms to assess the accuracy of needle placement into the target location. The system was able to successfully utilize live MR imaging to guide the path of the needle, and results show an average total targeting error of 2.5±0.47mm, with an average in-plane error of 2.09±0.33mm.},\nauthor = {Patel, Niravkumar A. and {Van Katwijk}, Tim and Li, Gang and Moreira, Pedro and Shang, Weijian and Misra, Sarthak and Fischer, Gregory S.},\nbooktitle = {Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS},\ndoi = {10.1109/EMBC.2015.7319484},\nisbn = {9781424492718},\nissn = {1557170X},\norganization = {IEEE},\npages = {4869--4874},\npmid = {26737384},\ntitle = {{Closed-loop asymmetric-tip needle steering under continuous intraoperative MRI guidance}},\nurl = {https://doi.org/10.1109/EMBC.2015.7319484},\nvolume = {2015-Novem},\nyear = {2015}\n}\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  Magnetic resonance imaging (MRI) provides excellent image contrast for various types of tissues, making it a suitable choice over other imaging modalities for various image-guided needle interventions. Furthermore, robot-assistance is maturing for surgical procedures such as percutaneous prostate and brain interventions. Although MRI-guided, robot-assisted needle interventions are approaching clinical usage, they are still typically open-loop in nature due to the lack of continuous intraoperative needle tracking. Closed-loop needle-based procedures can improve the accuracy of needle tip placement by correcting the needle trajectory during insertion. This paper proposes a system for robot-assisted, flexible asymmetric-tipped needle interventions under continuous intraoperative MRI guidance. A flexible needle's insertion depth and rotation angle are manipulated by an MRI-compatible robot in the bore of the MRI scanner during continuous multi-planar image acquisition to reach a desired target location. Experiments are performed on gelatin phantoms to assess the accuracy of needle placement into the target location. The system was able to successfully utilize live MR imaging to guide the path of the needle, and results show an average total targeting error of 2.5±0.47mm, with an average in-plane error of 2.09±0.33mm.\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);