Task 1.1

D. Burschka, M. Li, R. Taylor and G.D. Hager, “Scale-Invariant Registration of Monocular Endoscope Images to CT-Scans For Sinus Surgery,” In Proceedings of Seventh International Conference on Medical Image Computing and Computer-Assisted Intervention (MICCAI), volume 2, pages 413-421, 2004.
Riviere CN, Patronik NA, Zenati MA. A prototype epicardial crawling device for intrapericardial intervention on the beating heart. Heart Surg Forum 7(6):E639-E643, 2004.

W. T. Ang, P. K. Khosla, and C. N. Riviere, "Kalman filtering for real-time orientation tracking of handheld microsurgical instrument," IEEE/RSJ Intl. Conf. Intelligent Robots and Systems, Oct. 2004.

W. T. Ang, P. K. Khosla, and C. N. Riviere, "Active tremor compensation in microsurgery," Proc. 26th Annu. Intl. Conf. IEEE Eng. Med. Biol. Soc., Sep. 1-3, 2004, pp. 2738-2741.

N. A. Patronik, M. A. Zenati, and C. N. Riviere, "Crawling on the heart: a mobile robotic device for minimally invasive cardiac interventions," 7th Intl. Conf. Med. Image Comput. and Computer-Assisted Intervention (MICCAI), October 2004, Lect. Notes Comput. Sci., pp. 9-16.

W. T. Ang, S. Y. Khoo, P. K. Khosla, and C. N. Riviere, "Physical model of a dual-axis MEMS accelerometer for low-g motion tracking applications," Proc. IEEE Intl. Conf. Robot. Autom., New Orleans, May 2004, pp. 1345-1351.

Simaan, N., R.H. Taylor and P. Flint. "High dexterity snake-like robotic slaves for minimally invasive telesurgery of the upper airway". MICCAI, Saint-Malo, France. Springer 3217 (2004):17-24

Viswanathan, A., E.M.Boctor, R.H.Taylor, G.D. Hager and G. Fichtinger. "Immediate ultrasound calibration with three poses and minimal image processing". MICCAI, Saint-Malo, France. Springer 3217 (2004):446-454

Maneesh Dewan, Panadda Marayong, Allison Okamura, and Gregory D. Hager. Vision-Based Assistance for Ophthalmic Micro-Surgery. In Proceedings of Seventh International Conference on Medical Image Computing and Computer-Assisted Intervention (MICCAI), volume 2, pages 49-57, 2004.


Task 1.2

F. Tenore, M. A. Lewis and R. Etienne-Cummings, "A Programmable Array of Silicon Neurons for the Control of Legged Locomotion," IEEE ISCAS'04, Vancouver, Canada, May 2004.

N.V. Thakor, B. Hong, S. Tong, W. Lau, Brain signals as information carrier of brain-computer interface: Beyond electrical, BIOSIGNAL, June 2004
W. Lau, S. Tong, N.V. Thakor, Functional Laser Speckle Imaging Of Stimulus, Evoked Neuronal Activities In The Somatosensory Cortex, IEEE BMES 2004 Falls Meeting.

G. D. Hager, M. Dewan, and C. V. Stewart. Multiple Kernel Tracking with SSD. In Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition (CVPR 2004), Volume 1, 27 June-2 July 2004 Page(s):I-790 - I-797 Vol.1.

W. W. Lau, N. A. Ramey, J. J. Corso, N. Thakor, and G. D. Hager. Stereo-Based Endoscopic Tracking of Cardiac Surface Deformation. In Proceedings of Seventh International Conference on Medical Image Computing and Computer-Assisted Intervention (MICCAI), volume 2, pages 494-501, 2004.

W. T. Ang, P. K. Khosla, and C. N. Riviere, "Kalman filtering for real-time orientation tracking of handheld microsurgical instrument," IEEE/RSJ Intl. Conf. Intelligent Robots and Systems, Oct. 2004.

W. T. Ang, P. K. Khosla, and C. N. Riviere, "Active tremor compensation in microsurgery," Proc. 26th Annu. Intl. Conf. IEEE Eng. Med. Biol. Soc., Sep. 1-3, 2004, pp. 2738-2741.

A. D. Jagtap and C. N. Riviere, "Applied force during vitreoretinal microsurgery with handheld instruments," Proc. 26th Annu. Intl. Conf. IEEE Eng. Med. Biol. Soc., Sep. 1-3, 2004, pp. 2771-2773.

F. Peral-Gutierrez, A. L. Liao, and C. N. Riviere, "Static and dynamic accuracy of vitreoretinal surgeons," Proc. 26th Annu. Intl. Conf. IEEE Eng. Med. Biol. Soc., Sep. 1-3, 2004, pp. 2734-2737.

W. T. Ang, S. Y. Khoo, P. K. Khosla, and C. N. Riviere, "Physical model of a dual-axis MEMS accelerometer for low-g motion tracking applications," Proc. IEEE Intl. Conf. Robot. Autom., New Orleans, May 2004, pp. 1345-1351.

T. Akinbiyi, A. M. Okamura, and D. D. Yuh, "Dynamic Augmented Reality for Haptic Display in Robot-Assisted Surgical Systems," Medicine Meets Virtual Reality 13, J. D. Westwood, et al. (Eds.), IOS Press, 2005.

A. M. Okamura, "Methods for Haptic Feedback in Teleoperated Robot-Assisted Surgery," Industrial Robot, Vol. 31, No. 6., pp. 499-508, 2004.


Task 1.3

P. Marayong and A. M. Okamura, "Speed-Accuracy Characteristics of Human-Machine Cooperative Manipulation Using Virtual Fixtures with Variable Admittance," Human Factors. Vol. 46, Issue 3, pp. 518-532, Fall 2004.

J. J. Abbott and A. M. Okamura, “A Sufficient Condition for Virtual Wall Passivity with Quantization Effects,” in ASME International Mechanical Engineering Congress and Expo, 2004.

M. Wu, J. J. Abbott, and A. M. Okamura, “Effect of Velocity on Human Force Control,” World Haptics Conference, March 2005.
Maneesh Dewan, Panadda Marayong, Allison Okamura, and Gregory D. Hager. Vision-Based Assistance for Ophthalmic Micro-Surgery. In Proceedings of Seventh International Conference on Medical Image Computing and Computer-Assisted Intervention (MICCAI), volume 2, pages 49-57, 2004.

D. Burschka, M. Li, R.H. Taylor, and G.D. Hager. Scale-Invariant Registration of Monocular Endoscope Images to CT-Scans For Sinus Surgery. In Proceedings of Seventh International Conference on Medical Image Computing and Computer-Assisted Intervention (MICCAI), volume 2, pages 413-421, 2004.

Darius Burschka, Ming Li, Russell Taylor, and Gregory D. Hager. Scale-Invariant Registration of Monocular Stereo Images to 3D Surface Models. In Proceedings of IROS, pages 2581-2586, 2004.

A. Bettini, P. Marayong, S. Lang, A. M. Okamura, and G. D. Hager. Vision Assisted Control for Manipulation Using Virtual Fixtures. IEEE Transactions on Robotics, 20(6):953-966, Dec. 2004.


Task 1.4

T. Akinbiyi, A. M. Okamura, and D. D. Yuh, "Dynamic Augmented Reality for Haptic Display in Robot-Assisted Surgical Systems," Medicine Meets Virtual Reality 13, J. D. Westwood, et al. (Eds.), IOS Press, 2005.

O. Gerovich, P. Marayong, and A. M. Okamura, "The Effect of Visual and Haptic Feedback on Computer-Assisted Needle Insertion," Computer-Aided Surgery, Vol. 9, No. 3, 2004.

M. Kitagawa, D. Dokko, A. M. Okamura, and D. D. Yuh, "Effect of Sensory Substitution on Suture Manipulation Forces for Robotic Surgical Systems," Journal of Thoracic and Cardiovascular Surgery, Vol. 129, No. 1, pp. 151-158, 2005.

P. Marayong and A. M. Okamura, "Speed-Accuracy Characteristics of Human-Machine Cooperative Manipulation Using Virtual Fixtures with Variable Admittance," Human Factors, Vol. 46, No. 3, pp. 518-532, 2004.

T. Murphy, Towards Objective Surgical Skill Evaluation with Hidden Markov Model-based Motion Recognition, M.S. Thesis, Department of Mechanical Engineering, The Johns Hopkins University, August 2004.

B. T. Bethea, A. M. Okamura, M. Kitagawa, T. P. Fitton, S. M. Cattaneo, V. L. Gott, W. A. Baumgartner, and D. D. Yuh, "Application of Haptic Feedback to Robotic Surgery," Journal of Laparoendoscopic and Advanced Surgical Techniques, Vol. 14, No. 3, pp. 191-195, June 2004.


Task 2.1

Boctor E, Viswanathan A, Pieper S, Choti M, Taylor R, Kikinis R, Fichtinger G, “CISUS: An integrated 3D ultrasound system for IGT with modular tracking interface”, IEEE SPIE Medical Imaging 2004, Proc. SPIE Int. Soc. Opt. Eng. 5367, pp. 247-256, May 2004.

Xu S, Fichtinger G, Taylor RH, Cleary K, "3D motion tracking of pulmonary lesions using CT fluoroscopy images for robotically assisted lung biopsy", IEEE-SPIE 2004, Proc. SPIE Int. Soc. Opt. Eng. 5367, 394-402, May 2004.

Awad MM, Boctor EM, Fichtinger G, Taylor RH, Choti MA,, Development of a Robotically-Assisted3-D UltrasoundSystem for Radiofrequency Ablation of Liver Tumors, 6th World Congress of the Hepato-Pancreato-Biliary Association (IHPBA), June 2-6 2004, Washington -- Best Young Investigator Award

Fichtinger G, Deguet A, Masamune K, Fischer G, Balogh E, Mathieu H, Taylor RH, Fayad LM, SJ Zinreich, Needle Insertion in CT Scanner with Image Overlay –Cadaver Studies, Seventh International Conference on Medical Image Computing and Computer-Assisted Intervention, St Malo, France, Proceedings in Lecture Notes in Computer Science Vol. 3217, pp 795-803, Springer, September 2004

Balogh E, Deguet A, Susil RC, Krieger A, Viswanathan A, Menard C,. Coleman JA, Fichtinger G, Visualization, Planning, and Monitoring Software for MRI-Guided Prostate Intervention Robot, Seventh International Conference on Medical Image Computing and Computer-Assisted Intervention, St Malo, France, Proceedings Lecture Notes in Computer Science Vol. 3217, pp 73-80, Springer, September 2004

Viswanathan A, Boctor EM, Taylor RH, Hager GD, Fichtinger G, Immediate Ultrasound Calibration from Two Poses and Minimal Image Processing, Seventh International Conference on Medical Image Computing and Computer-Assisted Intervention, St Malo, France, Proceedings in Lecture Notes in Computer Science Vol. 3217, pp 446-454, Springer, September 2004

Boctor EM, Taylor RH, Choti MA, Fichtinger G, Robotic Strain Imaging for Monitoring Thermal Ablation of Liver Tumors, Seventh International Conference on Medical Image Computing and Computer-Assisted Intervention, St Malo, France, 2004, Proceedings in Lecture Notes in Computer Science Vol. 3217, pp 81-88, Springer, 2004

K Cleary, V Watson, D Lindisch, D Stoianovici, A Patriciu, D Mazilu, R H Taylor, G Fichtinger, S Xu, C S White, J Donlon, M Taylor, Precision Placement of Instruments for Minimally Invasive Procedures Using a Needle Driver Robot, Int J Medical Robotics & Computer Assisted Surgery, 1(2):40-47, 2005

Krieger A, Susil RC, Menard C, Coleman JA, Fichtinger G, Atalar E, Whitcomb LL, Design of A Novel MRI Compatible Manipulator for Image Guided Prostate Intervention, IEEE Trans. Biomed. Eng. 52(2):306-313, February 2005

Shen D, Lao Z, Zeng J, Zhang W, Sesterhenn I, Sun L, Moul JW, Herskovits EH, Fichtinger G, Davatzikos C: Optimization of Biopsy Strategy by A Statistical Atlas of Prostate Cancer Distribution. Medical Image Analysis, 8(2),139-150, June 2004

Fichtinger G, Deguet A, Masamune K, Fischer G, Balogh E, Mathieu H, Taylor RH, Fayad LM, SJ Zinreich, Needle Insertion in CT Scanner with Image Overlay –Cadaver Studies, Seventh International Conference on Medical Image Computing and Computer-Assisted Intervention -- MICCAI 2004, Proceedings in Lecture Notes in Computer Science Vol. 3217, pp 795-803, Springer, 2004

Balogh E, Deguet A, Susil RC, Krieger A, Viswanathan A, Menard C,. Coleman JA, Fichtinger G, Visualization, Planning, and Monitoring Software for MRI-Guided Prostate Intervention Robot, Seventh International Conference on Medical Image Computing and Computer-Assisted Intervention -- MICCAI 2004, Proceedings Lecture Notes in Computer Science Vol. 3217, pp 73-80, Springer, 2004

Viswanathan A, Boctor EM, Taylor RH, Hager GD, Fichtinger G, Immediate Ultrasound Calibration from Two Poses and Minimal Image Processing, Seventh International Conference on Medical Image Computing and Computer-Assisted Intervention -- MICCAI 2004, Proceedings in Lecture Notes in Computer Science Vol. 3217, pp 446-454, Springer, 2004

Boctor EM, Taylor RH, Choti MA, Fichtinger G, "Robotically assisted ablative treatment Guided by freehand 3D ultrasound", Conference of Computer Assisted Radiology and Surgery (CARS), Chicago; in proceedings, pp 503-508, Elsevier, June 2004

Ménard C, Susil RC, Choyke P, Coleman J, Grubb R, Krieger A, Gharib A, Guion P, Thomasson D, Capala J, Gupta S, Fichtinger G, Whitcomb LW, Coleman CN, Camphausen K, Atalar E: Integrating Diagnostic And Interventional MRI For The Molecular Characterization Of Prostate Cancer, 5th Interventional MRI Symposium, Boston, October 15-16, 2004, Proceedings pg 26.

DiMaio SP, Pieper S, Chinzei K, Fichtinger G, Kikinis R: Robot assisted percutaneous intervention in open-MRI. 5th Interventional MRI Symposium, Boston, October 15-16, 2004, Proceedings pp 155.

Jain A, Zhou Y, Mustufa T, Burdette C, Scheideler C, Chirikjian G, Fichtinger G: Intra-operative Seed Reconstruction from C-arm Images for Prostate Brachytherapy, Annual Convention of the Radiology Society of North America (RSNA), Chicago, IL, Nov. 2004

Coleman JA, Susil RC, Krieger A, Choyke PL, Wise B, Thomasson D, Gharib A, Whitcomb LL, Fichtinger G, Linehan WM, Coleman CN, Camphausen K, Atalar E, Ménard C, Technique and Accuracy of a Clinical System for Transrectal Intraprostatic Needle Placement in a Standard 1.5T MRI Scanner, American Urological Association (AUA), Annual Meeting, San Francisco, May 2004

Susil RC, Chowning SL, Krieger A, Fichtinger G, Whitcomb LL, Atalar E, MRI Guidance and Monitoring of Injected Therapeutic Agents, Annual Meeting of International Society of Magnetic Resonance in Medicine (ISMRM), May 2004

Susil RC, Ménard C, Krieger A, Coleman JA, Camphausen K, Choyke P, Ullman K, Smith S, Fichtinger G, Whitcomb LL, Coleman NC, Atalar E, Transrectal Prostate Biopsy and Fiducial Marker Placement in a Standard 1.5T MRI Scanner, Annual Meeting of International Society of Magnetic Resonance in Medicine (ISMRM), May 2004

Krieger A, Susil RC, Menard C, Coleman JA, Fichtinger G, Whitcomb LL, Atalar E, A Novel MRI Compatible Manipulator for Prostate Interventions, Annual Meeting of International Society of Magnetic Resonance in Medicine (ISMRM), May 2004

A. K. Jain, R. H. Taylor, Understanding bone responses in tracked B-mode ultrasound images and automatic bone surface extraction using a Bayesian probabilistic framework, SPIE, August 2004


Task 2.2
Kilian M. Pohl, Simon K. Warfield, Ron Kikinis, W. Eric L. Grimson, and William M. Wells, “Coupling Statistical Segmentation and PCA Shape Modeling” Medical Image Computing and Computer-Assisted Intervention – MICCAI, September 26-29, 2004. Proceedings, Part I, Volume 3216, pp. 151 - 159

C. A. Kemper, I-F. Talos, A. Golby, P.M. Black, R. Kikinis, W.E.L. Grimson, S.K. Warfield, “An Anisotropic Material Model for Image Guided Neurosurgery Poster” MICCAI, September 26-29, 2004, Proceedings Part II, Volume 3217, pp. 267 – 275

Lauren O'Donnell, W. Eric L. Grimson, Carl-Fredrik Westin, “Interface Detection in Diffusion Tensor MRI”, Medical Image Computing and Computer-Assisted Intervention – MICCAI, Saint-Malo, France, September 26-29, 2004. Proceedings, Part I, Volume 3216, pp. 360 - 367


Task 2.3

Dinggang Shen, Zhiqiang Lao, Jianchao Zeng, Wei Zhang, Isabel A. Sesterhenn, Leon Sun, Judd W. Moul, Edward H. Herskovits, Gabor Fichtinger, Christos Davatzikos. “Optimization of Biopsy Strategy by A Statistical Atlas of Prostate Cancer Distribution”, Medical Image Analysis, 8(2): 139- 150, 2004.

Task 2.4

As most of these projects are strongly related with activities in Task 2.1, many of the following publications are also reported with Task 2.1.

K Cleary, V Watson, D Lindisch, D Stoianovici, A Patriciu, D Mazilu, R H Taylor, G Fichtinger, S Xu, C S White, J Donlon, M Taylor, Precision Placement of Instruments for Minimally Invasive Procedures Using a Needle Driver Robot, Int J Medical Robotics & Computer Assisted Surgery, 1(2):40-47, 2005

Krieger A, Susil RC, Menard C, Coleman JA, Fichtinger G, Atalar E, Whitcomb LL, Design of A Novel MRI Compatible Manipulator for Image Guided Prostate Intervention, IEEE Trans. Biomed. Eng. 52(2):306-313, February 2005

Shen D, Lao Z, Zeng J, Zhang W, Sesterhenn I, Sun L, Moul JW, Herskovits EH, Fichtinger G, Davatzikos C: Optimization of Biopsy Strategy by A Statistical Atlas of Prostate Cancer Distribution. Medical Image Analysis, 8(2),139-150, 2004

Fichtinger G, Deguet A, Masamune K, Fischer G, Balogh E, Mathieu H, Taylor RH, Fayad LM, SJ Zinreich, Needle Insertion in CT Scanner with Image Overlay –Cadaver Studies, Seventh International Conference on Medical Image Computing and Computer-Assisted Intervention -- MICCAI 2004, Proceedings in Lecture Notes in Computer Science Vol. 3217, pp 795-803, Springer, 2004

Balogh E, Deguet A, Susil RC, Krieger A, Viswanathan A, Menard C,. Coleman JA, Fichtinger G, Visualization, Planning, and Monitoring Software for MRI-Guided Prostate Intervention Robot, Seventh International Conference on Medical Image Computing and Computer-Assisted Intervention -- MICCAI 2004, Proceedings Lecture Notes in Computer Science Vol. 3217, pp 73-80, Springer, 2004

Viswanathan A, Boctor EM, Taylor RH, Hager GD, Fichtinger G, Immediate Ultrasound Calibration from Two Poses and Minimal Image Processing, Seventh International Conference on Medical Image Computing and Computer-Assisted Intervention -- MICCAI 2004, Proceedings in Lecture Notes in Computer Science Vol. 3217, pp 446-454, Springer, 2004

Boctor EM, Fichtinger G, Yeung A, Awad M, Taylor RH, Choti MA, Robotic Strain Imaging for Monitoring Thermal Ablation of Liver Tumors, Seventh International Conference on Medical Image Computing and Computer-Assisted Intervention -- MICCAI 2004, Proceedings in Lecture Notes in Computer Science Vol. 3217, pp 81-88, Springer, 2004

Boctor EM, Taylor RH, Choti MA, Fichtinger G, "Robotically assisted ablative treatment Guided by freehand 3D ultrasound", Conference of Computer Assisted Radiology and Surgery (CARS), Chicago; in proceedings, pp 503-508, Elsevier, June 2004

Ménard C, Susil RC, Choyke P, Coleman J, Grubb R, Krieger A, Gharib A, Guion P, Thomasson D, Capala J, Gupta S, Fichtinger G, Whitcomb LW, Coleman CN, Camphausen K, Atalar E: Integrating Diagnostic And Interventional MRI For The Molecular Characterization Of Prostate Cancer, 5th Interventional MRI Symposium, Boston, October 15-16, 2004, Proceedings pg 26.

DiMaio SP, Pieper S, Chinzei K, Fichtinger G, Kikinis R: Robot assisted percutaneous intervention in open-MRI. 5th Interventional MRI Symposium, Boston, October 15-16, 2004, Proceedings pp 155.

Jain A, Zhou Y, Mustufa T, Burdette C, Scheideler C, Chirikjian G, Fichtinger G: Intra-operative Seed Reconstruction from C-arm Images for Prostate Brachytherapy, Annual Convention of the Radiology Society of North America (RSNA), Chicago, IL, Nov. 2004

Coleman JA, Susil RC, Krieger A, Choyke PL, Wise B, Thomasson D, Gharib A, Whitcomb LL, Fichtinger G, Linehan WM, Coleman CN, Camphausen K, Atalar E, Ménard C, Technique and Accuracy of a Clinical System for Transrectal Intraprostatic Needle Placement in a Standard 1.5T MRI Scanner, American Urological Association (AUA), Annual Meeting, San Francisco, May 2004

Boctor EM, Awad MM, Fichtinger G, Taylor RH, Choti MA,, Development of a Robotically-Assisted3-D Ultrasound System for Radiofrequency Ablation of Liver Tumors, 6th World Congress of the Hepato-Pancreato-Biliary Association (IHPBA), June 2004, Washington.

R. J. Webster III, J. Memisevic and A. M. Susil RC, Chowning SL, Krieger A, Fichtinger G, Whitcomb LL, Atalar E, MRI Guidance and Monitoring of Injected Therapeutic Agents, Annual Meeting of International Society of Magnetic Resonance in Medicine (ISMRM), May 2004

Susil RC, Ménard C, Krieger A, Coleman JA, Camphausen K, Choyke P, Ullman K, Smith S, Fichtinger G, Whitcomb LL, Coleman NC, Atalar E, Transrectal Prostate Biopsy and Fiducial Marker Placement in a Standard 1.5T MRI Scanner, Annual Meeting of International Society of Magnetic Resonance in Medicine (ISMRM), May 2004

Krieger A, Susil RC, Menard C, Coleman JA, Fichtinger G, Whitcomb LL, Atalar E, A Novel MRI Compatible Manipulator for Prostate Interventions, Annual Meeting of International Society of Magnetic Resonance in Medicine (ISMRM), May 2004

J. Memisevic, R. J. Webster III and A. M. Okamura, "Design of a Needle Steering Robot for Minimally Invasive Surgery," NSF REU poster at the Biomedical Engineering Society Fall Meeting, Philadelphia, PA, Oct. 13-16, 2004.

Cleary K, Watson V, Lindisch D, Taylor R, Fichtinger G, Xu S, White C, Donlon J, Taylor M, Patriciu A, Mazilu D, Stoianovici D: Precision Placement of Instruments for Minimally Invasive Procedures Using a "Needle Driver" Robot. International Journal of Medical Robotics and Computer Assisted Surgery. 15 January 2005; 1(2): 40-47.


Task 2.5

L Zollei, J Fisher, W Wells, “Multi-modal Medical Image Registration in a Unified Framework,” 10th Annual meeting of the Organization for Human Brain Mapping, June 13-17, 2004, Budapest, Hungary.

K. Ramamurthi, N. Strobel, and J.L. Prince, “Exact 3D Cone-Beam Reconstruction From Two Short-Scans Using a C-arm Imaging System,” IS&T and SPIE 17th Annual Symposium on Electronic Imaging, San Jose, CA, 16-20 January 2005.