<?xml version="1.0" encoding="UTF-8"?><xml><records><record><source-app name="Biblio" version="6.x">Drupal-Biblio</source-app><ref-type>17</ref-type><contributors><authors><author><style face="normal" font="default" size="100%">Kevin Cleary</style></author><author><style face="normal" font="default" size="100%">Vance Watson</style></author><author><style face="normal" font="default" size="100%">David Lindisch</style></author><author><style face="normal" font="default" size="100%">Russell Taylor</style></author><author><style face="normal" font="default" size="100%">Gabor Fichtinger</style></author><author><style face="normal" font="default" size="100%">Sheng Xu</style></author><author><style face="normal" font="default" size="100%">Charles White</style></author><author><style face="normal" font="default" size="100%">John Donlon</style></author><author><style face="normal" font="default" size="100%">Michael Taylor</style></author><author><style face="normal" font="default" size="100%">Alexandru Patriciu</style></author><author><style face="normal" font="default" size="100%">Dumitru Mazilu</style></author><author><style face="normal" font="default" size="100%">Dan Stoianovici</style></author></authors></contributors><titles><title><style face="normal" font="default" size="100%">Precision placement of instruments for minimally invasive procedures using a &quot;needle driver&quot; robot</style></title><secondary-title><style face="normal" font="default" size="100%">international journal of medical robotics computer assisted surgery MRCAS</style></secondary-title></titles><keywords><keyword><style  face="normal" font="default" size="100%">Biopsy</style></keyword><keyword><style  face="normal" font="default" size="100%">Cadaver</style></keyword><keyword><style  face="normal" font="default" size="100%">Equipment Design</style></keyword><keyword><style  face="normal" font="default" size="100%">Fluoroscopy</style></keyword><keyword><style  face="normal" font="default" size="100%">Humans</style></keyword><keyword><style  face="normal" font="default" size="100%">Imaging</style></keyword><keyword><style  face="normal" font="default" size="100%">instrumentation</style></keyword><keyword><style  face="normal" font="default" size="100%">instrumentation/methods</style></keyword><keyword><style  face="normal" font="default" size="100%">Lung</style></keyword><keyword><style  face="normal" font="default" size="100%">Lung Neoplasms</style></keyword><keyword><style  face="normal" font="default" size="100%">methods</style></keyword><keyword><style  face="normal" font="default" size="100%">Minimally Invasive</style></keyword><keyword><style  face="normal" font="default" size="100%">Needles</style></keyword><keyword><style  face="normal" font="default" size="100%">Nerve Block</style></keyword><keyword><style  face="normal" font="default" size="100%">pathology</style></keyword><keyword><style  face="normal" font="default" size="100%">pathology/radiography</style></keyword><keyword><style  face="normal" font="default" size="100%">Phantoms</style></keyword><keyword><style  face="normal" font="default" size="100%">Randomized Controlled Trials as Topic</style></keyword><keyword><style  face="normal" font="default" size="100%">Robotics</style></keyword><keyword><style  face="normal" font="default" size="100%">Spinal Nerves</style></keyword><keyword><style  face="normal" font="default" size="100%">Surgical Procedures</style></keyword><keyword><style  face="normal" font="default" size="100%">Tomography</style></keyword><keyword><style  face="normal" font="default" size="100%">X-Ray Computed</style></keyword></keywords><dates><year><style  face="normal" font="default" size="100%">2005</style></year><pub-dates><date><style  face="normal" font="default" size="100%">Jan</style></date></pub-dates></dates><urls><web-urls><url><style face="normal" font="default" size="100%">http://dx doi org/10 1002/rcs 40</style></url></web-urls><related-urls><url><style face="normal" font="default" size="100%">http://perk.cs.queensu.ca/sites/perk.cs.queensu.ca/files/Cleary2005.pdf</style></url></related-urls></urls><number><style face="normal" font="default" size="100%">2</style></number><publisher><style face="normal" font="default" size="100%">Division of Computer Aided Interventions, Medical Robotics (CAIMR), Imaging Science, Information Systems (ISIS) Center, Department of Radiology, Georgetown University Medical Center, Washington, DC, USA cleary@georgetown edu</style></publisher><volume><style face="normal" font="default" size="100%">1</style></volume><pages><style face="normal" font="default" size="100%">40–47</style></pages><language><style face="normal" font="default" size="100%">eng</style></language><abstract><style face="normal" font="default" size="100%">Medical practice continues to move toward less invasive procedures Many of these procedures require the precision placement of a needle in the anatomy Over the past several years, our research team has been investigating the use of a robotic needle driver to assist the physician in this task This paper summarizes our work in this area The robotic system is briefly described, followed by a description of a clinical trial in spinal nerve blockade The robot was used under joystick control to place a 22 gauge needle in the spines of 10 patients using fluoroscopic imaging The results were equivalent to the current manual procedure We next describe our follow-up clinical application in lung biopsy for lung cancer screening under CT fluoroscopy The system concept is discussed, the results of a phantom study are presented A start-up company named ImageGuide has recently been formed to commercialize the robot Their revised robot design is presented, along with plans to install a ceiling-mounted version of the robot in the CT fluoroscopy suite at Georgetown University</style></abstract></record></records></xml>