Tokuda Laboratory
Tokuda Laboratory, Department of Radiology

Publications

Peer-Reviewed Journal Articles

  1. Bernardes MC, Moreira P, Lezcano D, Foley L, Tuncali K, Tempany C, Kim JS, Hata N, Iordachita I, Tokuda J. In Vivo Feasibility Study: Evaluating Autonomous Data-Driven Robotic Needle Trajectory Correction in MRI-Guided Transperineal Procedures. IEEE Robotics and Automation Letters. 2024;9(10):8975–8982. doi:10.1109/LRA.2024.3455940 PMID: 39371576. PMCID: PMC11448709.
  2. Bhagavatula SK, Panikkanvalappil SR, Tokuda J, Levesque V, Tatarova Z, Liu G, Markert JE, Jonas O. Superparamagnetic iron oxide nanoparticle enhanced percutaneous microwave ablation: Ex-vivo characterization using magnetic resonance thermometry. Med Phys. 2024;51(5):3195–3206. doi:10.1002/mp.17040 PMID: 38513254. PMCID: PMC11406496.
  3. Connolly L, Kumar AS, Mehta KK, Al-Zogbi L, Kazanzides P, Mousavi P, Fichtinger G, Krieger A, Tokuda J, Taylor RH, Leonard S, Deguet A. SlicerROS2: A Research and Development Module for Image-Guided Robotic Interventions. IEEE Transactions on Medical Robotics and Bionics. Published online 2024:1–1. doi:10.1109/TMRB.2024.3464683
  4. Lezcano DA, Zhetpissov Y, Bernardes MC, Moreira P, Tokuda J, Kim JS, Iordachita II. Hybrid Deep Learning and Model-Based Needle Shape Prediction. IEEE Sens J. 2024;24(11):18359–18371. doi:10.1109/JSEN.2024.3386120
  5. Moreira P, Tuncali K, Tempany C, Tokuda J. AI-Based Isotherm Prediction for Focal Cryoablation of Prostate Cancer. Acad Radiol. 2023;30 Suppl 1(Suppl 1):S14–S20. doi:10.1016/j.acra.2023.04.016 PMID: 37236896. PMCID: PMC10524864.
  6. Gunderman AL, Schmidt EJ, Xiao Q, Tokuda J, Seethamraju RT, Neri L, Halperin HR, Kut C, Viswanathan AN, Morcos M, Chen Y. MRI-Conditional Eccentric-Tube Injection Needle: Design, Fabrication, and Animal Trial. IEEE/ASME Trans Mechatron. 2023;28(4):2405–2410. doi:10.1109/TMECH.2022.3232546 PMID: 39104914. PMCID: PMC11299889.
  7. Moreira P, Grimble J, Bernardes MC, Iftimia N, Levesque VM, Foley L, Tuncali K, Tokuda J, Park J. Motorized template for MRI-guided focal cryoablation of prostate cancer. IEEE Trans Med Robot Bionics. 2023;5(2):335–342. doi:10.1109/tmrb.2023.3272025 PMID: 37312886. PMCID: PMC10259684.
  8. Bernardes MC, Moreira P, Mareschal L, Tempany C, Tuncali K, Hata N, Tokuda J. Data-driven adaptive needle insertion assist for transperineal prostate interventions. Phys Med Biol. 2023;68(10). doi:10.1088/1361-6560/accefa PMID: 37080237. PMCID: PMC10249778.
  9. Giganti F, Cole AP, Fennessy FM, Clinton T, Moreira PLDF, Bernardes MC, Westin C-F, Krishnaswamy D, Fedorov A, Wollin DA, Langbein B, Frego N, Labban M, Badaoui JS, Chang SL, Briggs LG, Tokuda J, Ambrosi A, Kirkham A, Emberton M, Kasivisvanathan V, Moore CM, Allen C, Tempany CM. Promoting the use of the PI-QUAL score for prostate MRI quality: results from the ESOR Nicholas Gourtsoyiannis teaching fellowship. Eur Radiol. 2023;33(1):461–471. doi:10.1007/s00330-022-08947-5 PMID: 35771247. PMCID: PMC9244244.
  10. Lo W-C, Bittencourt LK, Panda A, Jiang Y, Tokuda J, Seethamraju R, Tempany-Afdhal C, Obmann V, Wright K, Griswold M, Seiberlich N, Gulani V. Multicenter Repeatability and Reproducibility of MR Fingerprinting in Phantoms and in Prostatic Tissue. Magn Reson Med. 2022;88(4):1818–1827. doi:10.1002/mrm.29264 PMID: 35713379. PMCID: PMC9469467.
  11. Connolly L, Deguet A, Leonard S, Tokuda J, Ungi T, Krieger A, Kazanzides P, Mousavi P, Fichtinger G, Taylor RH. Bridging 3D Slicer and ROS2 for Image-Guided Robotic Interventions. Sensors. 2022;22(14). doi:10.3390/s22145336 PMID: 35891016. PMCID: PMC9324680.
  12. Schmidt EJ, Olson G, Tokuda J, Alipour A, Watkins RD, Meyer EM, Elahi H, Stevenson WG, Schweitzer J, Dumoulin CL, Johnson T, Kolandaivelu A, Loew W, Halperin HR. Intracardiac MR imaging (ICMRI) guiding-sheath with amplified expandable-tip imaging and MR-tracking for navigation and arrythmia ablation monitoring: Swine testing at 1.5 and 3T. Magn Reson Med. 2022;87(6):2885–2900. doi:10.1002/mrm.29168 PMID: 35142398. PMCID: PMC8957513.
  13. Robertson FC, Sha RM, Amich JM, Essayed WI, Lal A, Lee BH, Calvachi Prieto P, Tokuda J, Weaver JC, Kirollos RW, Chen MW, Gormley WB. Frameless neuronavigation with computer vision and real-time tracking for bedside external ventricular drain placement: a cadaveric study. J Neurosurg. 2022;136(5):1475–1484. doi:10.3171/2021.5.JNS211033 PMID: 34653985.
  14. Gunderman AL, Schmidt EJ, Morcos M, Tokuda J, Seethamraju RT, Halperin HR, Viswanathan AN, Chen Y. MR-Tracked Deflectable Stylet for Gynecologic Brachytherapy. IEEE ASME Trans Mechatron. 2022;27(1):407–417. doi:10.1109/tmech.2021.3064954 PMID: 35185321. PMCID: PMC8855967.
  15. Wang S, Frisbie J, Keepers Z, Bolten Z, Hevaganinge A, Boctor E, Leonard S, Tokuda J, Krieger A, Siddiqui MM. The Use of Three-dimensional Visualization Techniques for Prostate Procedures: A Systematic Review. Eur Urol Focus. 2021;7(6):1274–1286. doi:10.1016/j.euf.2020.08.002 PMID: 32873515.
  16. Meyer A, Mehrtash A, Rak M, Bashkanov O, Langbein B, Ziaei A, Kibel AS, Tempany CM, Hansen C, Tokuda J. Domain adaptation for segmentation of critical structures for prostate cancer therapy. Sci Rep. 2021;11(1):11480. doi:10.1038/s41598-021-90294-4 PMID: 34075061. PMCID: PMC8169882.
  17. Moreira P, Tuncali K, Tempany CM, Tokuda J. The Impact of Placement Errors on the Tumor Coverage in MRI-Guided Focal Cryoablation of Prostate Cancer. Acad Radiol. 2021;28(6):841–848. doi:10.1016/j.acra.2020.07.013 PMID: 32863151. PMCID: PMC7910318.
  18. Moreira P, Grimble J, Iftimia N, Bay CP, Tuncali K, Park J, Tokuda J. In vivo evaluation of angulated needle-guide template for MRI-guided transperineal prostate biopsy. Med Phys. 2021;48(5):2553–2565. doi:10.1002/mp.14816 PMID: 33651407. PMCID: PMC8141017.
  19. Shono N, Ninni B, King F, Kato T, Tokuda J, Fujimoto T, Tuncali K, Hata N. Simulated accuracy assessment of small footprint body-mounted probe alignment device for MRI-guided cryotherapy of abdominal lesions. Med Phys. 2020;47(6):2337–2349. doi:10.1002/mp.14116 PMID: 32141080. PMCID: PMC7889307.
  20. Tokuda J, Wang Q, Tuncali K, Seethamraju RT, Tempany CM, Schmidt EJ. Temperature-Sensitive Frozen-Tissue Imaging for Cryoablation Monitoring Using STIR-UTE MRI. Invest Radiol. 2020;55(5):310–317. doi:10.1097/RLI.0000000000000642 PMID: 31977600. PMCID: PMC7145748.
  21. Tokuda J, Wang Q, Tuncali K, Seethamraju RT, Tempany CM, Schmidt EJ. Temperature-Sensitive Frozen-Tissue Imaging for Cryoablation Monitoring Using STIR-UTE MRI. Invest Radiol. 2020;55(5):310–317. doi:10.1097/RLI.0000000000000642 PMID: 31977600. PMCID: PMC7145748.
  22. Yamada A, Tokuda J, Naka S, Murakami K, Tani T, Morikawa S. Magnetic resonance and ultrasound image-guided navigation system using a needle manipulator. Med Phys. 2020;47(3):850–858. doi:10.1002/mp.13958 PMID: 31829440. PMCID: PMC7067635.
  23. Herz C, MacNeil K, Behringer PA, Tokuda J, Mehrtash A, Mousavi P, Kikinis R, Fennessy FM, Tempany CM, Tuncali K, Fedorov A. Open Source Platform for Transperineal In-Bore MRI-Guided Targeted Prostate Biopsy. IEEE Trans Biomed Eng. 2020;67(2):565–576. doi:10.1109/TBME.2019.2918731 PMID: 31135342. PMCID: PMC6874712.
  24. Patel NA, Li G, Shang W, Wartenberg M, Heffter T, Burdette EC, Iordachita I, Tokuda J, Hata N, Tempany CM, Fischer GS. System Integration and Preliminary Clinical Evaluation of a Robotic System for MRI-Guided Transperineal Prostate Biopsy. J Med Robot Res. 2019;4(2):1950001. doi:10.1142/S2424905X19500016 PMID: 31485544. PMCID: PMC6726403.
  25. Taylor AJ, Slutzky T, Feuerman L, Ren H, Tokuda J, Nilsson K, Tse ZTH. MR-Conditional SMA-Based Origami Joint. IEEE ASME Trans Mechatron. 2019;24(2):883–888. doi:10.1109/tmech.2019.2891993 PMID: 32774079. PMCID: PMC7413301.
  26. Moreira P, Patel N, Wartenberg M, Li G, Tuncali K, Heffter T, Burdette EC, Iordachita I, Fischer GS, Hata N, Tempany CM, Tokuda J. Evaluation of robot-assisted MRI-guided prostate biopsy: needle path analysis during clinical trials. Phys Med Biol. 2018;63(20):20NT02. doi:10.1088/1361-6560/aae214 PMID: 30226214. PMCID: PMC6198326.
  27. Wartenberg M, Schornak J, Gandomi K, Carvalho P, Nycz C, Patel N, Iordachita I, Tempany C, Hata N, Tokuda J, Fischer GS. Closed-Loop Active Compensation for Needle Deflection and Target Shift During Cooperatively Controlled Robotic Needle Insertion. Ann Biomed Eng. 2018;46(10):1582–1594. doi:10.1007/s10439-018-2070-2 PMID: 29926303. PMCID: PMC6319385.
  28. Hovet S, Ren H, Xu S, Wood B, Tokuda J, Tse ZTH. MRI-powered biomedical devices. Minim Invasive Ther Allied Technol. 2018;27(4):191–202. doi:10.1080/13645706.2017.1402188 PMID: 29141515. PMCID: PMC6504181.
  29. Tokuda J, Chauvin L, Ninni B, Kato T, King F, Tuncali K, Hata N. Motion compensation for MRI-compatible patient-mounted needle guide device: estimation of targeting accuracy in MRI-guided kidney cryoablations. Phys Med Biol. 2018;63(8):085010. doi:10.1088/1361-6560/aab736 PMID: 29546845. PMCID: PMC5899055.
  30. Doba N, Fukuda H, Numata K, Hao Y, Hara K, Nozaki A, Kondo M, Chuma M, Tanaka K, Takebayashi S, Koizumi N, Kobayashi A, Tokuda J, Maeda S. A new device for fiducial registration of image-guided navigation system for liver RFA. Int J Comput Assist Radiol Surg. 2018;13(1):115–124. doi:10.1007/s11548-017-1647-9 PMID: 28718001.
  31. Johnson M, Chen Y, Hovet S, Xu S, Wood B, Ren H, Tokuda J, Tse ZTH. Fabricating biomedical origami: a state-of-the-art review. Int J Comput Assist Radiol Surg. 2017;12(11):2023–2032. doi:10.1007/s11548-017-1545-1 PMID: 28260164. PMCID: PMC5922460.
  32. Arcos J de, Schmidt EJ, Wang W, Tokuda J, Vij K, Seethamraju RT, Damato AL, Dumoulin CL, Cormack RA, Viswanathan AN. Prospective Clinical Implementation of a Novel Magnetic Resonance Tracking Device for Real-Time Brachytherapy Catheter Positioning. Int J Radiat Oncol Biol Phys. 2017;99(3):618–626. doi:10.1016/j.ijrobp.2017.05.054 PMID: 28843373. PMCID: PMC5720929.
  33. Frank T, Krieger A, Leonard S, Patel NA, Tokuda J. ROS-IGTL-Bridge: an open network interface for image-guided therapy using the ROS environment. Int J Comput Assist Radiol Surg. 2017;12(8):1451–1460. doi:10.1007/s11548-017-1618-1 PMID: 28567563. PMCID: PMC5543207.
  34. Su H, Iordachita II, Tokuda J, Hata N, Liu X, Seifabadi R, Xu S, Wood B, Fischer GS. Fiber Optic Force Sensors for MRI-Guided Interventions and Rehabilitation: A Review. IEEE Sens J. 2017;17(7):1952–1963. doi:10.1109/JSEN.2017.2654489 PMID: 28652857. PMCID: PMC5482288.
  35. Kapur T, Pieper S, Fedorov A, Fillion-Robin J-C, Halle M, O’Donnell L, Lasso A, Ungi T, Pinter C, Finet J, Pujol S, Jagadeesan J, Tokuda J, Norton I, Estepar RSJ, Gering D, Aerts HJWL, Jakab M, Hata N, Ibanez L, Blezek D, Miller J, Aylward S, Grimson WEL, Fichtinger G, Wells WM, Lorensen WE, Schroeder W, Kikinis R. Increasing the impact of medical image computing using community-based open-access hackathons: The NA-MIC and 3D Slicer experience. Med Image Anal. 2016;33(SI):176–180. doi:10.1016/j.media.2016.06.035 PMID: 27498015. PMCID: PMC5003088.
  36. Ciris PA, Balasubramanian M, Seethamraju RT, Tokuda J, Scalera J, Penzkofer T, Fennessy FM, Tempany-Afdhal CM, Tuncali K, Mulkern RV. Characterization of gradient echo signal decays in healthy and cancerous prostate at 3T improves with a Gaussian augmentation of the mono-exponential (GAME) model. NMR Biomed. 2016;29(7):999–1009. doi:10.1002/nbm.3556 PMID: 27241215. PMCID: PMC4957529.
  37. Tani S, Tatli S, Hata N, Garcia-Rojas X, Olubiyi OI, Silverman SG, Tokuda J. Three-dimensional quantitative assessment of ablation margins based on registration of pre- and post-procedural MRI and distance map. Int J Comput Assist Radiol Surg. 2016;11(6):1133–1142. doi:10.1007/s11548-016-1398-z PMID: 27038962. PMCID: PMC4893989.
  38. Eslami S, Shang W, Li G, Patel N, Fischer GS, Tokuda J, Hata N, Tempany CM, Iordachita I. In-bore prostate transperineal interventions with an MRI-guided parallel manipulator: system development and preliminary evaluation. Int J Med Robot. 2016;12(2):199–213. doi:10.1002/rcs.1671 PMID: 26111458. PMCID: PMC4691445.
  39. Hata N, Song S-E, Olubiyi O, Arimitsu Y, Fujimoto K, Kato T, Tuncali K, Tani S, Tokuda J. Body-mounted robotic instrument guide for image-guided cryotherapy of renal cancer. Med Phys. 2016;43(2):843–853. doi:10.1118/1.4939875 PMID: 26843245. PMCID: PMC4723400.
  40. Wang W, Viswanathan AN, Damato AL, Chen Y, Tse Z, Pan L, Tokuda J, Seethamraju RT, Dumoulin CL, Schmidt EJ, Cormack RA. Evaluation of an active magnetic resonance tracking system for interstitial brachytherapy. Med Phys. 2015;42(12):7114–7121. doi:10.1118/1.4935535 PMID: 26632065. PMCID: PMC4662673.
  41. Su H, Shang W, Cole G, Li G, Harrington K, Camilo A, Tokuda J, Tempany CM, Hata N, Fischer GS. Piezoelectrically Actuated Robotic System for MRI-Guided Prostate Percutaneous Therapy. IEEE ASME Trans Mechatron. 2015;20(4):1920–1932. doi:10.1109/TMECH.2014.2359413 PMID: 26412962. PMCID: PMC4580290.
  42. Tilak G, Tuncali K, Song S-E, Tokuda J, Olubiyi O, Fennessy F, Fedorov A, Penzkofer T, Tempany C, Hata N. 3T MR-guided in-bore transperineal prostate biopsy: A comparison of robotic and manual needle-guidance templates. J Magn Reson Imaging. 2015;42(1):63–71. doi:10.1002/jmri.24770 PMID: 25263213. PMCID: PMC4376663.
  43. Tokuda J, Plishker W, Torabi M, Olubiyi OI, Zaki G, Tatli S, Silverman SG, Shekher R, Hata N. Graphics Processing Unit-Accelerated Nonrigid Registration of MR Images to CT Images During CT-Guided Percutaneous Liver Tumor Ablations. Acad Radiol. 2015;22(6):722–733. doi:10.1016/j.acra.2015.01.007 PMID: 25784325. PMCID: PMC4428967.
  44. Wang W, Dumoulin CL, Viswanathan AN, Tse ZTH, Mehrtash A, Loew W, Norton I, Tokuda J, Seethamraju RT, Kapur T, Damato AL, Cormack RA, Schmidt EJ. Real-time active MR-tracking of metallic stylets in MR-guided radiation therapy. Magn Reson Med. 2015;73(5):1803–1811. doi:10.1002/mrm.25300 PMID: 24903165. PMCID: PMC4257908.
  45. Tauscher S, Tokuda J, Schreiber G, Neff T, Hata N, Ortmaier T. OpenIGTLink interface for state control and visualisation of a robot for image-guided therapy systems. Int J Comput Assist Radiol Surg. 2015;10(3):285–292. doi:10.1007/s11548-014-1081-1 PMID: 24923473. PMCID: PMC4265315.
  46. Penzkofer T, Tuncali K, Fedorov A, Song S-E, Tokuda J, Fennessy FM, Vangel MG, Kibel AS, Mulkern RV, Wells WM, Hata N, Tempany CMC. Transperineal in-bore 3-T MR imaging-guided prostate biopsy: a prospective clinical observational study. Radiology. 2015;274(1):170–180. doi:10.1148/radiol.14140221 PMID: 25222067. PMCID: PMC4334270.
  47. Song S-E, Tokuda J, Tuncali K, Tempany CM, Zhang E, Hata N. Development and preliminary evaluation of a motorized needle guide template for MRI-guided targeted prostate biopsy. IEEE Trans Biomed Eng. 2013;60(11):3019–3027. doi:10.1109/TBME.2013.2240301 PMID: 23335658. PMCID: PMC3778164.
  48. Seifabadi R, Cho NBJ, Song S-E, Tokuda J, Hata N, Tempany CM, Fichtinger G, Iordachita I. Accuracy study of a robotic system for MRI-guided prostate needle placement. Int J Med Robot. 2013;9(3):305–316. doi:10.1002/rcs.1440 PMID: 22678990. PMCID: PMC3772968.
  49. Li G, Su H, Shang W, Tokuda J, Hata N, Tempany CM, Fischer GS. A Fully Actuated Robotic Assistant for MRI-Guided Prostate Biopsy and Brachytherapy. Proc SPIE Int Soc Opt Eng. 2013;8671:867117. doi:10.1117/12.2007669 PMID: 25076821. PMCID: PMC4112766.
  50. Song S-E, Hata N, Iordachita I, Fichtinger G, Tempany C, Tokuda J. A workspace-orientated needle-guiding robot for 3T MRI-guided transperineal prostate intervention: evaluation of in-bore workspace and MRI compatibility. Int J Med Robot. 2013;9(1):67–74. doi:10.1002/rcs.1430 PMID: 22492680. PMCID: PMC3674858.
  51. Tokuda J, Song S-E, Tuncali K, Tempany C, Hata N. Configurable automatic detection and registration of fiducial frames for device-to-image registration in MRI-guided prostate interventions. Med Image Comput Comput Assist Interv. 2013;16(Pt 3):355–362. doi:10.1007/978-3-642-40760-4_45 PMID: 24505781. PMCID: PMC4009697.
  52. Mamata H, Tokuda J, Gill RR, Padera RF, Lenkinski RE, Sugarbaker DJ, Butler JP, Hatabu H. Clinical application of pharmacokinetic analysis as a biomarker of solitary pulmonary nodules: dynamic contrast-enhanced MR imaging. Magn Reson Med. 2012;68(5):1614–1622. doi:10.1002/mrm.24150 PMID: 22231729. PMCID: PMC3335927.
  53. Tokuda J, Song S-E, Fischer GS, Iordachita II, Seifabadi R, Cho NB, Tuncali K, Fichtinger G, Tempany CM, Hata N. Preclinical evaluation of an MRI-compatible pneumatic robot for angulated needle placement in transperineal prostate interventions. Int J Comput Assist Radiol Surg. 2012;7(6):949–957. doi:10.1007/s11548-012-0750-1 PMID: 22678723. PMCID: PMC3692285.
  54. Fedorov A, Tuncali K, Fennessy FM, Tokuda J, Hata N, Wells WM, Kikinis R, Tempany CM. Image registration for targeted MRI-guided transperineal prostate biopsy. J Magn Reson Imaging. 2012;36(4):987–992. doi:10.1002/jmri.23688 PMID: 22645031. PMCID: PMC3434292.
  55. Egger J, Tokuda J, Chauvin L, Freisleben B, Nimsky C, Kapur T, Wells W. Integration of the OpenIGTLink network protocol for image-guided therapy with the medical platform MeVisLab. Int J Med Robot. 2012;8(3):282–290. doi:10.1002/rcs.1415 PMID: 22374845. PMCID: PMC3405168.
  56. Tokuda J, Tuncali K, Iordachita I, Song S-E, Fedorov A, Oguro S, Lasso A, Fennessy FM, Tempany CM, Hata N. In-bore setup and software for 3T MRI-guided transperineal prostate biopsy. Phys Med Biol. 2012;57(18):5823–5840. doi:10.1088/0031-9155/57/18/5823 PMID: 22951350. PMCID: PMC3517895.
  57. Egger J, Tokuda J, Chauvin L, Freisleben B, Nimsky C, Kapur T, Wells W. Integration of the OpenIGTLink network protocol for image-guided therapy with the medical platform MeVisLab. Int J Med Robot. 2012;8(3):282–290. doi:10.1002/rcs.1415 PMID: 22374845. PMCID: PMC3405168.
  58. Seifabadi R, Song S-E, Krieger A, Cho NB, Tokuda J, Fichtinger G, Iordachita I. Robotic system for MRI-guided prostate biopsy: feasibility of teleoperated needle insertion and ex vivo phantom study. Int J Comput Assist Radiol Surg. 2012;7(2):181–190. doi:10.1007/s11548-011-0598-9 PMID: 21698389. PMCID: PMC3356244.
  59. Su H, Shang W, Harrington K, Camilo A, Cole G, Tokuda J, Hata N, Tempany C, Fischer GS. A networked modular hardware and software system for MRI-guided robotic prostate interventions. In: Medical Imaging 2012: Image-Guided Procedures, Robotic Interventions, and Modeling. Vol 8316. SPIE; 2012:614–621. doi:10.1117/12.912292
  60. Tokuda J, Mamata H, Gill RR, Hata N, Kikinis R, Padera RF Jr, Lenkinski RE, Sugarbaker DJ, Hatabu H. Impact of nonrigid motion correction technique on pixel-wise pharmacokinetic analysis of free-breathing pulmonary dynamic contrast-enhanced MR imaging. J Magn Reson Imaging. 2011;33(4):968–973. doi:10.1002/jmri.22490 PMID: 21448965. PMCID: PMC3069717.
  61. Arata J, Kozuka H, Kim HW, Takesue N, Vladimirov B, Sakaguchi M, Tokuda J, Hata N, Chinzei K, Fujimoto H. Open core control software for surgical robots. Int J Comput Assist Radiol Surg. 2010;5(3):211–220. doi:10.1007/s11548-009-0388-9 PMID: 20033506. PMCID: PMC2925237.
  62. Tokuda J, Fischer GS, DiMaio SP, Gobbi DG, Csoma C, Mewes PW, Fichtinger G, Tempany CM, Hata N. Integrated navigation and control software system for MRI-guided robotic prostate interventions. Comput Med Imaging Graph. 2010;34(1):3–8. doi:10.1016/j.compmedimag.2009.07.004 PMID: 19699057. PMCID: PMC2815337.
  63. Tokuda J, Fischer GS, Papademetris X, Yaniv Z, Ibanez L, Cheng P, Liu H, Blevins J, Arata J, Golby AJ, Kapur T, Pieper S, Burdette EC, Fichtinger G, Tempany CM, Hata N. OpenIGTLink: an open network protocol for image-guided therapy environment. Int J Med Robot. 2009;5(4):423–434. doi:10.1002/rcs.274 PMID: 19621334. PMCID: PMC2811069.
  64. Tokuda J, Fischer GS, Papademetris X, Yaniv Z, Ibanez L, Cheng P, Liu H, Blevins J, Arata J, Golby AJ, Kapur T, Pieper S, Burdette EC, Fichtinger G, Tempany CM, Hata N. OpenIGTLink: an open network protocol for image-guided therapy environment. Int J Med Robot. 2009;5(4):423–434. doi:10.1002/rcs.274 PMID: 19621334. PMCID: PMC2811069.
  65. Oguro S, Tokuda J, Elhawary H, Haker S, Kikinis R, Tempany CMC, Hata N. MRI signal intensity based B-spline nonrigid registration for pre- and intraoperative imaging during prostate brachytherapy. J Magn Reson Imaging. 2009;30(5):1052–1058. doi:10.1002/jmri.21955 PMID: 19856437. PMCID: PMC2801562.
  66. Morikawa S, Naka S, Murakami K, Kurumi Y, Shiomi H, Tani T, Haque HA, Tokuda J, Hata N, Inubushi T. Preliminary clinical experiences of a motorized manipulator for magnetic resonance image-guided microwave coagulation therapy of liver tumors. Am J Surg. 2009;198(3):340–347. doi:10.1016/j.amjsurg.2009.02.006 PMID: 19596118.
  67. Tokuda J, Schmitt M, Sun Y, Patz S, Tang Y, Mountford CE, Hata N, Wald LL, Hatabu H. Lung motion and volume measurement by dynamic 3D MRI using a 128-channel receiver coil. Acad Radiol. 2009;16(1):22–27. doi:10.1016/j.acra.2008.07.021 PMID: 19064208. PMCID: PMC2804926.
  68. Fischer GS, Iordachita I, Csoma C, Tokuda J, Dimaio SP, Tempany CM, Hata N, Fichtinger G. MRI-Compatible Pneumatic Robot for Transperineal Prostate Needle Placement. IEEE ASME Trans Mechatron. 2008;13(3):295–305. doi:10.1109/TMECH.2008.924044 PMID: 21057608. PMCID: PMC2974180.
  69. Tokuda J, Morikawa S, Haque HA, Tsukamoto T, Matsumiya K, Liao H, Masamune K, Dohi T. Adaptive 4D MR imaging using navigator-based respiratory signal for MRI-guided therapy. Magn Reson Med. 2008;59(5):1051–1061. doi:10.1002/mrm.21436 PMID: 18429011. PMCID: PMC3004024.
  70. Hata N, Tokuda J, Hurwitz S, Morikawa S. MRI-compatible manipulator with remote-center-of-motion control. J Magn Reson Imaging. 2008;27(5):1130–1138. doi:10.1002/jmri.21314 PMID: 18407542. PMCID: PMC2815332.
  71. Tokuda J, Fischer GS, Csoma C, DiMaio SP, Gobbi DG, Fichtinger G, Tempany CM, Hata N. Software strategy for robotic transperineal prostate therapy in closed-bore MRI. Med Image Comput Comput Assist Interv. 2008;11(Pt 2):701–709. doi:10.1007/978-3-540-85990-1_84 PMID: 18982666. PMCID: PMC2692941.
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