, 147 4.1 -Introduction, p.147
, ? Intensity-Based Registration of Freehand 3D Ultrasound and CT-scan Images of the Kidney Leroy A
, The Development of a Surgeon Robot for Prostatectomies, Proceedings of the Institution of Mechanical Engineers, Part H: Journal of Engineering in Medicine, vol.132, issue.2, pp.35-43, 1991.
DOI : 10.1243/PIME_PROC_1991_205_259_02
, Gray's Anatomy of the Human Body, 1986.
, Anatomie du rein et de l'uretère, Encycl. Méd. Chir, 1989.
, PERCUTANEOUS TROCAR (NEEDLE) NEPHROSTOMY IN HYDRONEPHROSIS, Journal of the American Medical Association, vol.157, issue.11, pp.891-895, 1955.
DOI : 10.1001/jama.1955.02950280015005
, [Percutaneous nephrolithotomy Analysis of first 40 cases], Chirurgie, vol.110, issue.2, pp.133-141, 1984.
, Temporal Trends in the Use of Percutaneous Nephrolithotomy, The Journal of Urology, vol.175, issue.5, pp.1731-1737, 2006.
DOI : 10.1016/S0022-5347(05)00994-8
, Chirurgie percutanée du rein pour lithiase, Encycl. Méd. Chir, 1999.
, Major complications after percutaneous nephrostomy???lessons from a department audit, Clinical Radiology, vol.59, issue.2, pp.171-180, 2004.
DOI : 10.1016/S0009-9260(03)00336-2
, Complications in Percutaneous Nephrolithotomy, European Urology, vol.51, issue.4, pp.899-906, 2007.
DOI : 10.1016/j.eururo.2006.10.020
, Facteurs de??risques et??prise en??charge des??complications de??la??n??phrolithotomie percutan??e, Annales d'Urologie, vol.40, issue.3, pp.149-60, 1999.
DOI : 10.1016/j.anuro.2006.01.006
, The posterior intercostal approach for percutaneous renal procedures: risk of puncturing the lung, spleen, and liver as determined by CT., American Journal of Roentgenology, vol.154, issue.1, pp.115-122, 1990.
DOI : 10.2214/ajr.154.1.2104692
, Intrarenal access: 3-dimensional anatomical study Computerized tomography guided access for percutaneous nephrostolithotomy, J Urol J Urol, vol.148, issue.1701, pp.1769-73, 1992.
, The fruition of Halsted's concept of surgical training, Surgery, vol.32, issue.3, pp.518-545, 1952.
, Access related complications during percutaneous nephrolithotomy: urology versus radiology at a single academic institution Emergency percutaneous nephrostomy: technical success based on level of operator experience, J Urol J Vasc Interv Radiol, vol.176, issue.52, pp.142-147, 1994.
, Percutaneous nephrostomy insertion: outcome data from a prospective multi-operator study at a UK training centre, Clinical Radiology, vol.59, issue.3, pp.253-257, 2004.
DOI : 10.1016/j.crad.2003.10.022
, The Learning Curve in the Training of Percutaneous Nephrolithotomy, European Urology, vol.52, issue.1, pp.84-86, 1994.
DOI : 10.1016/j.eururo.2007.01.001
, The influence of respiration induced motion of the kidneys on the accuracy of radiotherapy treatment planning, a magnetic resonance imaging study, Radiotherapy and Oncology, vol.30, issue.2, pp.150-154, 0199.
DOI : 10.1016/0167-8140(94)90045-0
, Cranio-Caudal Movements of the Liver, Pancreas and Kidneys in Respiration, Acta Radiologica, vol.25, issue.2, pp.129-131, 1984.
DOI : 10.1177/028418518402500208
, A NEW APPROACH TO UROLOGY TRAINING:: A LABORATORY MODEL FOR PERCUTANEOUS NEPHROLITHOTOMY, The Journal of Urology, vol.172, issue.5, pp.1950-1952, 2004.
DOI : 10.1097/01.ju.0000140279.15186.20
, A Randomized, Controlled, Prospective Study Validating the Acquisition of Percutaneous Renal Collecting System Access Skills Using a Computer Based Hybrid Virtual Reality Surgical Simulator: Phase I, The Journal of Urology, vol.176, issue.5, pp.2173-2181, 2006.
DOI : 10.1016/j.juro.2006.07.011
, Cryothérapie percutanée des tumeurs rénales guidée par navigation en temps réel. in Congrès de l'Asoociation Française d'Urologie Paris: Progrès en Urologie. 26 Traitement des tumeurs rénales par radiofréquence percutanée guidée par navigation RVS® (Real-time Virtual Sonography). in Congrès de l'Association Française d'Urologie An Efficient Needle Injection Technique and Radiological Guidance Method for Percutaneous Procedures Robotic percutaneous access to the kidney: comparison with standard manual access, Proceedings of the FirstJoint Conference of Computer Vision, Virtual reality, and Robotics II (CVRMed II) and Medical Robotics and Computer Assisted Surgery III (MRCAS III). 1997. 28. Su, L.M., et al, pp.16-471, 2002.
, Needle placement under X-ray fluoroscopy using perspective invariants A randomized controlled trial of human versus robotic and telerobotic access to the kidney as the first step in percutaneous nephrolithotomy, Comput Aided Surg, vol.30, issue.3, pp.10-165, 2000.
, Méthodes de Recalage Scanner/Echographie Application à la Navigation Chirurgicale des Ponctions Rénales Percutanées., in PhD, Human Movement Science, vol.15, pp.445-475, 1996.
, Segmentation et recalage d'images échographiques par utilisation de connaissances physiologiques et morphologiques Anatomy-Based Registration of 3D Medical Images, Range Images, X-ray Projections, 3D Models using Octree-Splines, pp.115-143, 1996.
, Segmentation, registration, and measurement of shape variation via image object shape, IEEE Transactions on Medical Imaging, vol.18, issue.10, pp.851-865, 1999.
DOI : 10.1109/42.811263
, Abdominal Image Segmentation Using Three-Dimensional Deformable Models, Investigative Radiology, vol.33, issue.6, pp.348-55, 1998.
DOI : 10.1097/00004424-199806000-00006
, Multi-Scale Gradient MAgnitude Watershed Segmentation. in ICIAP'97 Fully automatic anatomical, pathological, and functional segmentation from CT scans for hepatic surgery, Comput Aided Surg, vol.6, issue.182, pp.131-173, 0199.
DOI : 10.1007/3-540-63507-6_178
URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.29.9249
, Computer-assisted access to the kidney, The International Journal of Medical Robotics and Computer Assisted Surgery, vol.6, issue.4, pp.58-66, 2005.
DOI : 10.1002/rcs.58
URL : https://hal.archives-ouvertes.fr/hal-00156770
, Least-square fitting of two 3D points sets
, Intensity-Based Registration of Freehand 3D Ultrasound and CTscan Images of the Kidney Chirurgie augmentée, un cas de réalité augmentée; conceptions et réalisations centrées sur l'utilisateur Chirurgie du rachis et vissage pédiculaire: navigation à base TDM versus fluoronavigation virtue, IEEE Trans. on Pattern Analysis and Machine Intelligence, pp.143-149, 1987.
, LPR: A Light Puncture Robot for CT and MR Interventions Incontinence urinaire de la femme: Evaluation et traitement A community-based epidemiological survey of female urinary incontinence: the norwegian epincont study. epidemiology of incontinence in the county of nord-trøndelag, IEEE Engineering in Medicine and Biology Magazine Ballanger, P. and P. Rischmann J Clin Epidemiol, vol.46, issue.11, pp.55-1150, 1995.
, [Prevalence of anal incontinence in adults], Gastroenterol Clin Biol, vol.16, issue.4, pp.344-50, 1992.
, Neuromodulation of the lower urinary tract, Experimental Physiology, vol.84, issue.1, pp.149-60, 1999.
DOI : 10.1111/j.1469-445X.1999.tb00080.x
, New Percutaneous Technique of Sacral Nerve Stimulation Has High Initial Success Rate: Preliminary Results, European Urology, vol.43, issue.1, pp.70-74, 2003.
DOI : 10.1016/S0302-2838(02)00442-6
, Clinical validation of computer assisted pelvic surgery using ultrasound. A percutaneous safe technique with low radiation exposure, Stud Health Technol Inform, vol.81, pp.515-535, 2001.
, Chirurgie percutanée par recalage 3D échographie-TDM
, Automatic delineation of the osseous interface in ultrasound images by information fusion Evolution de l'incidence et de la mortalité en France de, Application clinique au vissage sacro-iliaque. in Chirurgie orthopédique assistée par ordinateur 7th International Conference on Information Fusion, pp.806-812, 1978.
, The prostate gland: morphology and pathology, Monogr. Urol, vol.4, issue.1, 1983.
, Regional Morphology and Pathology of The Prostate, American Journal of Clinical Pathology, vol.49, issue.3, pp.347-357, 0199.
DOI : 10.1093/ajcp/49.3.347
, Zonal Distribution of Prostatic Adenocarcinoma, The American Journal of Surgical Pathology, vol.12, issue.12, pp.897-906, 1954.
DOI : 10.1097/00000478-198812000-00001
, Morphologic and clinical significance of multifocal prostate cancers in radical prostatectomy specimens, Cancer of the Prostate" subcommittee of the Committee of Oncology of the French Association of Urology], pp.264-273, 2002.
DOI : 10.1016/S0090-4295(02)01728-4
, Prediction of prognosis for prostatic adenocarcinoma by combined histological grading and clinical staging, J Urol, vol.111, issue.1, pp.58-64, 1974.
, Localized prostate cancer. Relationship of tumor volume to clinical significance for treatment of prostate cancer, Cancer, vol.140, issue.S3, pp.71-933, 1993.
DOI : 10.1002/1097-0142(19930201)71:3+<933::AID-CNCR2820711408>3.0.CO;2-L
, Conflicting insights into the role of watchful waiting in the management of adenocarcinoma of the prostate, Rev Urol, vol.8, issue.4, pp.232-236, 2006.
, A population-based study on management of prostate cancer in four regions of France, Prostate Cancer and Prostatic Diseases, vol.4, issue.3, pp.154-160, 2001.
DOI : 10.1038/sj.pcan.4500519
, Optimized prostate biopsy via a statistical atlas of cancer spatial distribution, Medical Image Analysis, vol.8, issue.2, pp.139-50, 2004.
DOI : 10.1016/j.media.2003.11.002
, Opportunité d'un dépistage systématique du cancer de la prostate par le dosage du PSA. Rapport de l'ANAES -www.has-sante Prostate cancer detection at low prostate specific antigen, J Urol, issue.3, pp.163-806, 1998.
, [Place of contrast imaging in prostate cancer detection], Prog Urol, vol.16, issue.3, pp.275-80, 2006.
, INITIAL EXPERIENCES WITH REAL-TIME ELASTOGRAPHY GUIDED BIOPSIES OF THE PROSTATE, The Journal of Urology, vol.174, issue.1, pp.115-122, 2005.
DOI : 10.1097/01.ju.0000162043.72294.4a
, MR imaging and MR spectroscopy in prostate cancer management How good is MRI at detecting and characterising cancer within the prostate? Dynamic contrast enhanced, pelvic phased array magnetic resonance imaging of localized prostate cancer for predicting tumor volume: correlation with radical prostatectomy findings, Radiol Clin North Am Eur Urol J Urol, vol.446, issue.73, pp.723-757, 2006.
, Functional MR Imaging of Prostate Cancer, RadioGraphics, vol.27, issue.1, pp.63-75, 2007.
DOI : 10.1148/rg.271065078
, Combined magnetic resonance imaging and spectroscopic imaging approach to molecular imaging of prostate cancer, Journal of Magnetic Resonance Imaging, vol.9, issue.4, pp.451-63, 0199.
DOI : 10.1002/jmri.10172
, Options et Recommandations pour la prise en charge des patients atteins de cancer de la prostate non métastatique Association Française d'Urologie et Fédération Nationale des Centres de Luttre Contre le Cancer. 77. Marchal, M., Modélisation des tissus mous dans leur environnement pour l'aide aux gestes médico-chirurgicaux, in TIMC -IMAG, 2001.
, [Complications of prostatic biopsies Analysis of a series of 4,764 biopsies], Prog Urol, issue.23, pp.484-491, 1992.
, Prediction of tumour volume and pathological stage in radical prostatectomy specimens is not improved by taking more prostate needle-biopsy cores, BJU International, vol.5, issue.7, pp.88-722, 2001.
DOI : 10.1046/j.1464-4096.2001.02413.x
, Is the percentage of cancer in biopsy cores predictive of extracapsular disease in T1-T2 prostate carcinoma? Cancer Predictive value of prostatic adenocarcinoma after a negative prostate biopsy, BJU Int, vol.78, issue.55, pp.1079-84, 1996.
, Value of Ultrasound-Guided Systematic Sextant Biopsies in Prostate Tumor Mapping, European Urology, vol.35, issue.4, pp.289-93, 1999.
DOI : 10.1159/000019863
, THE RISK OF FINDING FOCAL CANCER (LESS THAN 3 MM) REMAINS HIGH ON RE-BIOPSY OF PATIENTS WITH PERSISTENTLY INCREASED PROSTATE SPECIFIC ANTIGEN BUT THE CLINICAL SIGNIFICANCE IS QUESTIONABLE, The Journal of Urology, vol.171, issue.4, pp.1500-1503, 2004.
DOI : 10.1097/01.ju.0000118052.59597.83
, Negative prostatic biopsies in patients with a high risk of prostate cancer. Is the combination of endorectal MRI and magnetic resonance spectroscopy imaging (MRSI) a useful tool? A preliminary study, Eur Urol, issue.5, pp.47-582, 2005.
, [Computer-and robot-assisted urological surgery], Prog Urol, vol.16, issue.2, pp.112-132, 2006.
URL : https://hal.archives-ouvertes.fr/hal-00195030
, Brachytherapy -an example of a urological minimally invasive robotic procedure, Int. J. Medical Robotics and Computer Assisted Surgery, issue.1, pp.88-96, 2004.
, Robot-assisted 3D-TRUS guided prostate brachytherapy: System integration and validation, Medical Physics, vol.2, issue.3, pp.31-539, 2004.
DOI : 10.1118/1.1645680
, Ultrasound guided robotic system for transperineal biopsy of the prostate, Proceedings of the 2005 IEEE International Conference of Robotics and Automation, pp.1327-1332, 2005.
, Prostate biopsy: targeting cancer for detection and therapy, Rev Urol, vol.8, issue.4, pp.173-82, 2006.
, Real time MRI-ultrasound image guided stereotactic prostate biopsy, Magnetic Resonance Imaging, vol.20, issue.3
DOI : 10.1016/S0730-725X(02)00490-3
, MRI/TRUS data fusion for prostate brachytherapy. Preliminary results, Medical Physics, vol.23, issue.5, pp.31-1568, 2004.
DOI : 10.1118/1.1739003
URL : https://hal.archives-ouvertes.fr/hal-00206282
, MR Imaging-guided Prostate Biopsy with Surgical Navigation Software: Device Validation and Feasibility, Radiology, vol.220, issue.1, pp.263-271, 2001.
DOI : 10.1148/radiology.220.1.r01jl44263
, System for MR Image???guided Prostate Interventions: Canine Study, Radiology, vol.228, issue.3, pp.886-94, 0199.
DOI : 10.1148/radiol.2283020911
, Transrectal Prostate Biopsy and Fiducial Marker Placement in a Standard 1.5T Magnetic Resonance Imaging Scanner, The Journal of Urology, vol.175, issue.1, pp.113-133, 2006.
DOI : 10.1016/S0022-5347(05)00065-0
, Multi-Imager Compatible Robot for Transperineal Percutaneous Prostate Access, IEEE Transactions on Robotics, 2005.
, MRI-histology registration in prostate cancer. in Surgetica Grenoble: Sauramps Medical. 97 Three-dimensional computer reconstruction of prostate cancer from radical prostatectomy specimens: evaluation of the model by core biopsy simulation, Urology, vol.53, issue.1, pp.192-200, 1999.
, Automatic registration and error detection of multiple slices using landmarks Three-dimensional modeling of biopsy protocols for localized prostate cancer, Anal Cell Pathol Comput Med Imaging Graph, vol.23, issue.3, pp.159-65, 1998.
, Piecewise affine registration of biological images for volume reconstruction, Medical Image Analysis, vol.10, issue.3, pp.465-83, 2006.
DOI : 10.1016/j.media.2005.03.008
URL : https://hal.archives-ouvertes.fr/inria-00614996
, Registering Histological and MR Images of Prostate for Image-Based Cancer Detection, Med Image Comput Comput Assist Interv Int Conf Med Image Comput Comput Assist Interv, pp.620-628, 2006.
DOI : 10.1007/11866763_76