Surgical Planning Laboratory - Brigham & Women's Hospital - Boston, Massachusetts USA - a teaching affiliate of Harvard Medical School

Surgical Planning Laboratory

Junichi Tokuda Ph.D.

Junichi is an Instructor in Radiology at Brigham and Women's Hospital and Harvard Medical School. He received a B.S. in Engineering in 2002, an M.S. in Information Science and Technology in 2004, and a Ph.D. in Information Science and Technology in 2007, from the University of Tokyo, Japan. His research interests include navigation software, MRI-compatible robots, and integration of these technologies for the operating room. He has been working on these topics since 2001, and has broad experience developing software and devices for these applications. For example, software that he developed at the Shiga University of Medical Science, Japan, to assist in MRI-guided microwave coagulation therapy of liver tumors, has already been used in more than 100 clinical cases. He joined the Image-Guided Therapy Program at Brigham and Women's Hospital in April 2007, and continues to work on MR-guided therapy.

My Profile at Harvard Catalyst

Current Projects

Publications

Original Papers

  1. Morikawa S., Inubushi T., Kurumi Y., Naka S., Sato K., Tani T., Haque H.A., Tokuda J, Hata N. New Assistive Devices for MR-guided Microwave Thermocoagulation of Liver Tumors. Acad Radiol. 2003 Feb;10(2):180-8. PMID: 12583570.
  2. Morikawa S., Inubushi T., Kurumi Y., Naka S., Sato K., Demura K., Tani T., Haque H.A., Tokuda J, Hata N. Advanced Computer Assistance for Magnetic Resonance-guided Microwave Thermocoagulation of Liver Tumors. Acad Radiol. 2003 Dec;10(12):1442-9. PMID: 14697012.
  3. Tokuda J, Morikawa S., Dohi T., Hata N. Motion Tracking in MR-guided Liver Therapy by Using Navigator Echoes and Projection Profile Matching. Acad Radiol. 2004 Jan;11(1):111-20. PMID: 14746411.
  4. Tokuda J, Hirano M, Tsukamoto T, Dohi T, Hata N. Real-Time Organ Motion Tracking and Fast Image Registration System for MRI-Guided Surgery. Systems and Computers in Japan 2006; 37(1):83-92.
  5. Lesniak J., Tokuda J., Kikinis R., Burghart C., Hata N. A Device Guidance Method for Organ Motion Compensation in MRI-guided Therapy. Phys. Med. Biol. 2007 Nov;52(21):6427-38. PMID: 17951853.
  6. Hata N., Tokuda J., Hurwitz S., Morikawa S. MRI-Compatible Manipulator with Remote-Center-of-Motion Control. J Magn Reson Imaging. 2008 May;27(5):1130-8. PMID: 18407542. PMCID: PMC2815332.
  7. Tokuda J., Morikawa S., Haque H.A., 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 Apr 21;59(5):1051-1061. PMID: 18429011. PMCID: PMC3004024.
  8. Fischer G.S., Iordachita I., Csoma C., Tokuda J., DiMaio S.P., Tempany C.M., Hata N., Fichtinger G. MRI-Compatible Pneumatic Robot for Transperineal Prostate Needle Placement. IEEE/ASME Transactions on Mechatronics June 2008; 13(3):295-305. PMID: 21057608. PMCID: PMC2974180.
  9. Tokuda J., Schmitt M., Sun Y., Patz S., Tang Y., Mountford C.E., Hata N., Wald L.L., Hatabu H. Lung Motion and Volume Measurement by Dynamic 3D MRI using a 128-Channel Receiver Coil. Acad Radiol. 2009 Jan;16(1):22-7. PMID: 19064208. PMCID: PMC2804926.
  10. Morikawa S., Naka S., Murakami K., Kurumi Y., Shiomi H., Tani T., Haque H.A., 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 Sep;198(3):340-7. PMID: 19596118.
  11. Tokuda J., Fischer G.S., Papademetris X., Yaniv Z., Ibanez L., Cheng P., Liu H., Blevins J., Arata J., Golby A.J., Kapur T., Pieper S., Burdette E.C., Fichtinger G., Tempany C.M., Hata N. OpenIGTLink: an Open Network Protocol for Image-guided Therapy Environment. Int J Med Robot. 2009 Dec;5(4):423-34. PMID: 19621334. PMCID: PMC2811069.
  12. Arata J., Kozuka H., Kim H.W., 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 May;5(3):211-20. PMID: 20033506. PMCID: PMC2925237.
  13. Tokuda J., Fischer G.S., DiMaio S.P., Gobbi D.G., Csoma C., Mewes P.W., Fichtinger G., Tempany C.M., Hata N. Integrated Navigation and Control Software System for MRI-guided Robotic Prostate Interventions. Comput Med Imaging Graph. 2010 Jan;34(1):3-8. PMID: 19699057. PMCID: PMC2815337.
  14. Oguro S., Tokuda J., Elhawary H., Haker S., Kikinis R., Tempany C.M., Hata N. MRI Signal Intensity Based B-Spline Nonrigid Registration for Pre- and Intraoperative Imaging During Prostate Brachytherapy. J Magn Reson Imaging. 2009 Nov;30(5):1052-8. PMID: 19856437. PMCID: PMC2801562.
  15. Tokuda J., Mamata H., Gill R.R., Hata N., Kikinis R., Padera R.F., Lenkinski R.E., Sugarbaker D.J., 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 Apr;33(4):968-73. PMID: 21448965. PMCID: PMC3069717.
  16. Seifabadi R., Song S-E., Krieger A., Cho N.B., 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 Mar;7(2):181-90. PMID: 21698389.

Conference Papers

  1. Tokuda J, Morikawa S, Dohi T, Hata N. Ultra-fast image registration embedded in intraoperative MR imaging. In: In Proc. of the 16th International Congress and Exibition, Computer Assisted Radiology and Surgery; June, 2002; Paris, France. 2002; p.69-73.
  2. Hata N, Tokuda J, Morikawa S, Dohi T. Projection Profile Matching for Intraoperative MRI Registration Embedded in MR Imaging Sequence. In: Proc. 5th International Conference on Medical Image Computing and Computer-Assisted Intervention - MICCAI 2002; 9/25/2002-9/28/2002; Tokyo, Japan. 2002; p.164-9.
  3. Tokuda J, Hirano M, Tsukamoto T, Dohi T, Hata N. Integration of Projection Profile Matching into Clinical MR Scanner System for Real-time Organ Tracking and Image Registration. In: In Proceedings of The 6th Annual International Conference on Medical Image Computing and Computer Assisted Intervention - MICCAI 2003; 11/16/2003-11/18/2003; Montoreal, Canada. 2003; p.311-8.
  4. Hata N., Hashimoto R., Tokuda J., Morikawa S. Needle Guiding Robot for MR-guided Microwave Thermotherapy of Liver Tumor using Motorized Remote-Center-of-Motion Constraint. Proceedings of the IEEE International Conference on Robotics and Automation 2005; 1664-1668.
  5. Tokuda J, Morikawa S, Haque HA, Tsukamoto T, Matsumiya K, Liao H, Masamune K, Dohi T. Adaptive 4-D scan for real-time intraoperative MRI. In: Proceedings of 20th International Congress and Exhibition, Computer Assisted Radiology and Surgery; 6/28/2006-7/1/2006; Osaka, Japan. 2006; p.290-292.
  6. Tokuda J, Morikawa S, Haque HA, Tsukamoto T, Matsumiya K, Liao H, Masamune K, Dohi T. New 4-D imaging for real-time intraoperative MRI: adaptive 4-D scan. In: In Proc of 9th International Conference on Medical Image Computing and Computer Assisted Intervention - MICCAI 2006; 10/1/2006-10/6/2006; Copenhagen, Denmark. 2006; p.454-61.
  7. Lesniak J, Tokuda J, Kikinis R, Burghart, C, Hata H. A Device Guidance Method for Organ motion Compensation with MRI-based Tracking, BIODEVICES, Funchal, Madeira, Portugal, Jan 28-31, 2008.
  8. Fischer G.S., Iordachita I., Csoma C., Tokuda J., Mewes P.W., Tempany C.M., Hata N., Fichtinger G. Pneumatically Operated MRI-Compatible Needle Placement Robot for Prostate Interventions. IEEE Int Conf Robot Autom. 2008;2489-2495. PMID: 21686038. PMCID: PMC3113650.
  9. Mewes P, Hata N, Tokuda J, Tempany C, Csoma C, DiMaio S, Fichtinger G, Fischer G, Gobbi D, An Integrated MRI and Robot Control Software for an MRI-compatible Robot in Prostate Intervention, 2008 IEEE International Conference on Robotics and Automation, 2008.
  10. Tokuda J, Schmitt M, Sun Y, Tang Y, Patz S, Mountford CE , Hata N, Wald LL, Hatabu H, Lung Volume and Motion measured by Dynamic 3D MRI using a 128-channel Receiver Coil, 16th Scientific Meeting and Exhibition of International Society of Magnetic Resonance in Medicine, 5/3/2008-5/9/2008, Toronto, Canada, 2008.
  11. Tokuda J, DiMaio S, Fischer G, Csoma C, Gobbi D, Fichtinger G, Hata N, Tempany C, Real-time MR Imaging Controlled by Transperineal Needle Placement Device for MRI-guided Prostate Biopsy, 16th Scientific Meeting and Exhibition of International Society of Magnetic Resonance in Medicine, 5/3/2008-5/9/2008, Toronto, Canada, 2008.
  12. Morikawa S, Hata N, Tokuda J. Clinical Use of Robot Assistance in MR Image-guided Microwave, 16th Scientific Meeting and Exhibition of International Society of Magnetic Resonance in Medicine, 5/3/2008-5/9/2008, Toronto, Canada, 2008.
  13. Tokuda J., Fischer G.S.., Csoma C., DiMaio S.P.., Gobbi D.G.., Fichtinger G., Tempany C.M.., Hata N. Software Strategy for Robotic Transperineal Prostate Therapy in Closed-Bore MRI. Int Conf Med Image Comput Comput Assist Interv. 2008;11(Pt 2):701-709. PMID: 18982666. PMCID: PMC2692941.
  14. Arata J, Kozuka H, Kim HW, Takesue N, Vladimirov B, Sakaguchi M, Tokuda J, Hata N, Chinzei K, Fujimoto H. An open source control software using virtual fixture for surgical robots, In: Proceedings of 23th International Congress and Exhibition, Computer Assisted Radiology and Surgery; 6/23/2009-6/27/2009; Berlin, Germany. 2009.
  15. Song S, Cho NB, Iordachita I, Fischer GS, Tokuda J, Hata N, Fichtinger G, Tempany C. Development of a Pneumatic Robot for MRI-guided Transperineal Prostate Intervention, 18th Scientific Meeting and Exhibition of International Society of Magnetic Resonance in Medicine, 5/1/2008-5/7/2010, Stockholm, Sweden, 2010.
  16. Tokuda J, Mamata H, Gill RR, Patz S, Hata N, Lenkinski RE, Sugarbaker DJ, Hatabu H. Free-Breath DCE MRI for Solitary Pulmonary Nodule with Motion Correction Based On Non-Rigid Image Registration, 18th Scientific Meeting and Exhibition of International Society of Magnetic Resonance in Medicine, 5/1/2008-5/7/2010, Stockholm, Sweden, 2010.
  17. Mamata H, Tokuda J, Gill R, Padera RF, Lenkinski RE, Sugarbaker DJ, Hatabu H, Perfusion MRI of Solitary Pulmonary Nodules at 3T: Assessment of perfusion parameters and correlation with histology, 18th Scientific Meeting and Exhibition of International Society of Magnetic Resonance in Medicine, 5/1/2008-5/7/2010, Stockholm, Sweden, 2010.
  18. Song S, Cho NB, Tokuda J, Hata H, Tempany C, Fichtinger G and Iordachita I. MRI compatibility study of a pneumatically actuated robotic system for transperineal prostate needle placement. Proc of the 24th International Congress and Exhibition on Computer Assisted Radiology and Surgery (CARS'2010), Geneva, Switzerland, June 23-26, 2010.
  19. Song S-E., Cho N., Tokuda J., Hata N., Tempany C.M., Fichtinger G., Iordachita I. Preliminary Evaluation of a MRI-compatible Modular Robotic System for MRI-guided Prostate Interventions. Proc IEEE RAS EMBS Int Conf Biomed Robot Biomechatron. 2010 Sep 26;2010:796-801. PMID: 21132087. PMCID: PMC2995896.
  20. A. Fedorov, K. Tuncali, F. Fennessy, J. Tokuda, N. Hata, S.W. Wells, R. Kikinis, and C.M. Tempany. Hierarchical Image Registration for Improved Sampling during 3T MRI-guided Transperineal Targeted Prostate Biopsy. Session: Prostate Cancer (Clinical Studies) Computer Assignment: 8Day/Date: Thursday, Thursday, May 12th Session Start Time: 13:30.
  21. J Tokuda, K. Tuncali, I. Iordachita, S-E. Song, A. Fedorov, S. Oguro, A. Lasso, F. M. Fennessy, Y. Tang, C. M. Tempany, and N. Hata. Preliminary Accuracy Evaluation of 3T MRI-guided Transperineal Prostate Biopsy with Grid Template. Session: Interventional MRI: Instrument Visualization, Guidance & Interfaces Computer Assignment:121 Day/Date: Thursday, May 12th Session Start Time: 13:30.
  22. K. Tuncali, J. Tokuda, A. Fedorov, I. Iordachita, S. Song, S. Oguro, A. Lasso, F. M. Fennessy, Y. Tang, N. Hata, and C. M. Tempany. 3T MRI-guided Transperineal Targeted Prostate Biopsy: Clinical Feasibility, Safety, and Early Results. media:2011_ISMRM_Tuncali.pdf Session: Prostate Cancer (Clinical Studies) II Computer Assignment: Day/Date: Monday, May 9th Session Start Time: 11:00.
  23. F.Franco, F. Fennessy, A. Fedorov, K. Tuncali, J. Tokuda, S. Gupta and C. Tempany Correaltion of Histology from MR-guided Transperineal Prostate biopsy with Multiparametric MR Imaging: A Feasibility Study media:2011_ISMRM_Franco.pdf Session: Prostate Cancer (Clinical Studies) Computer Assignment: Day/Date: Tuesday, May 10th Session Start Time: 13:30.
  24. H. Mamata, J. Tokuda, R. R. Gill, R. F. Padera, R. Lenkinski, F. A. Jolesz, D. Sugarbaker, and H. Hatabu. Pharmacokinetic analysis of Malignant Pleural Mesothelioma: Correlation with growth type and time-intensity curve. 19th Scientific Meeting and Exhibition of International Society of Magnetic Resonance in Medicine, Montreal, Canada, 2011.
  25. H. Mamata, R. R. Gill, J. Tokuda, R. F. Padera, R. Lenkinski, F. A. Jolesz, W. G. Richards, T. R. Tilleman, D. Sugarbaker, and H. Hatabu. Preliminary result of pharmacokinetic parameter evaluation in malignant pleural mesothelioma: Correlation with histology and growth type. 19th Scientific Meeting and Exhibition of International Society of Magnetic Resonance in Medicine, Montreal, Canada, 2011.

Conference Abstracts

  1. Sato K, Kurumi Y, Naka S, Tani T, Morikawa S, Inubushi T, Tokuda J, Hata N. easibility of "Foot Printing" during MR-guided microwave thermocoagulation therapy of big liver tumors. In: In Proc. 4th International MRI Symposium; 9/27/2002-9/28/2002; Leipzig,Germany. ;2002. p. .
  2. Tokuda J. Moriwaka S. Hasnine AH, Hirano M, Tsukamoto T, Dohi T, Hata N. Real-time motion tracking and temperature map correction for MRI-guided thermal therapy. In: In Proc. 5th International MRI Symposium; 10/15/2004-10/16/2004; Cambridge, MA. ;2004. p. .
  3. Hata N, Hashimoto R, Tokuda J, Morikawa S. Needle guiding robot for MR-guided microwave thermotherapy of liver tumor using motorized remote-center-of-motion constraint. In: In Proc. 5th Interventional MRI Symposium; 10/15/2004-10/16/2004; Cambridge, MA. ;2004. p. .
  4. Tokuda J, Mewes P, DiMaio S, Fischer G, Csoma C, Fichtinger G, Hata N, Tempany C, Image-Based Calibration in Transperineal Needle Placement Device for MRI guided Prostate interventions, The 4th AdMeTech Foundation Conference, Washington D.C., Sep 16-17, 2007.
  5. Zientara G, Chu R, Hoge S, Madore, Tokuda J, Liu H, Hata N, Mei, Panych L, Real-time MR Data Acquisition System for IGT in the AMIGO Suite, In Proc. 7th Interventional MRI Symposium, Baltimore, Sep 12-13, 2008.
  6. Shigeyuki Naka, K. Murakami, K. Sato, H. Shiomi, Y. Endo, Y. Kurumi, T. Tani, S. Morikawa, J. Tokuda, N. Hata , H. A. Haque,, Clinical application of motorized remote-center-of-motion constraint robot to intra-operative MR image guided surgery of liver tumors, In Proc. 7th Interventional MRI Symposium, Baltimore, Sep 12-13, 2008.
  7. Sebastian Ordas, Ziv Yaniv, Patrick Cheng, Junichi Tokuda, Haying Liu, Nobuhiko Hata, Kevin Cleary, Interfacing Proprietary Hardware with the Image-Guided Surgery Toolkit (IGSTK): a Case for the OpenIGTLink Protocol, SPIE Medical Imaging 2009, Lake Buena Vista (Orlando Area), Florida, 7 - 12 February 2009.
  8. Tokuda J, Mamata H, Gill RR, Hata N, Hatabu H, Free-Breath Lung Perfusion MRI with Motion Correction Based on Non-Rigid Image Registration, 4th International Workshop for Pulmonary Functional Imaging, 9/24/2009-9/26/2009, Boston, MA, 2009
  9. Görlitz RA , Tokuda J, Hoge S, Chu R, Panych LP, Tempany CM, Hata N, Development and validation of a real-time reduced field of view imaging driven by automated needle detection for MRI-guided interventions, SPIE Medical Imaging 2010,San Diego, California, 13 - 18 February 2010.
  10. N. Hata, J. Tokuda, A. Fedorov, F. M. Fennessy, S. Gupta, D. Kacher, I. Iordachita, S. Oguro, S. Song, Y. Tang, C. M. C. Tempany, K. Tuncali, Procedural and technical aspects of MRI-guided prostate biopsy in a closed wide-bore 3-Tesla scanner, 8th International MRI Symposium, 9/24/2010-9/25/2010, Leipzig, Germany, 2010
  11. K. Tuncali, N. Hata, J. Tokuda, A. Fedorov, F. M. Fennessy, D. Kacher, I. Iordachita, S. Oguro, S. Song, Y. Tang, C. M. C. Tempany, Clinical feasibility and initial results of targeted prostate biopsy in a wide-bore 3-Tesla MRI, 8th International MRI Symposium, 9/24/2010-9/25/2010, Leipzig, Germany, 2010
  12. ES. Naka, Y. Kurumi, H. Murayama, K. Murakami, H. Shiomi, T. Tani, S. Morikawa, J. Tokuda, N. Hata, H. A Haque., fficacy of magnetic resonance image-guided liver surgery with a motorized manipulator, 8th International MRI Symposium, 9/24/2010-9/25/2010, Leipzig, Germany, 2010
  13. Chu R, Hoge WS, Tokuda J, Zientara GP, Yuan J, Tempany-Afdhal CM, Panych LP, Development of a Real-Time Platform for Monitoring Prostate Biopsy Procedures Using a Single-shot Fast-spin Echo Sequence with Reduced FOV, 96th Scientific Assembly and Annual Meeting, Radiological Society of North America, 11/28/2010-12/3/2010, Chicago, 2010

Seminars/Workshops Presentations

  1. Junichi Tokuda, Luis Ibanez, Csaba Csoma, Patrick Chang, Haiying Liu, Jack Blevins, Junpei Arata, Xenophon Papademetris, Nobuhiko Hata, Software and hardware integration strategy for image guided therapy using Open IGT Link, Workshop on Systems & Architecture for Computer Assisted Intervention in 11th International Conference on Medical Image Computing and Computer Assisted Intervention (MICCAI 2008), New York, NY, Sep 6, 2008.
  2. Junichi Tokuda, Gregory S. Fischer, Csaba Csoma, David G. Gobbi, Jack Blevins, Gabor Fichtinger, Clif Burdette, Clare M. Tempany, and Nobuhiko Hata, Software / Hardware Integration for MRI-guided Robotic Prostate Intervention using Open IGT Link, Prostate image analysis and computer-assisted intervention in 11th International Conference on Medical Image Computing and Computer Assisted Intervention (MICCAI 2008), New York, NY, Sep 10, 2008.
  3. Junichi Tokuda, The First Monday Seminar Series: Systems and Architectures for MRI-guided Robotic Interventions, Department of Radiology, Brigham and Women's Hospital, November 3, 2008.
  4. Junichi Tokuda, Slicer and IGSTK integration: OpenIGTLink, A standardized communication protocol for image-guided surgery systems, IGSTK User Group Meeting, SPIE 2009, Kissimmee, FL‎, February 7, 2009.
  5. Junichi Tokuda, OpenIGTLink Update, NA-MIC Summer Project Week at MIT, June 22, 2010.
  6. OpenIGTLink Training, Slicer Workshop at the Biomedical Imaging Research Centre at the University of Western Ontario, June 15, 2011.

Awards

  1. Research Fellowships of the Japan Society for the Promotion of Science for Young Scientists, 2004-2007
  2. Best Paper Award 2007, Japan Society of Computer Aided Surgery, Morikawa S, Murakami K, Naka S, Kurumi Y, Tani T, Morita M, Inubushi S, Haque, HA, Tokuda J, Hata N, Development and clinical application of needle placement manipulator for MRI-guided microwave ablation of liver tumor.
  3. Cum Laude Award, RSNA 2010. (Malik H, Gill RR, Mamata H, Tokuda J, Hatabu H, Advances in Magnetic Resonance Evaluation of the Chest: Perfusion and Diffusion-weighted Imaging)
  4. 3rd Place Poster Award in Interventional Imaging Category, 19th Annual Meeting and Exhibition, International Society of Magnetic Resonance in Medicine, Montreal, Quebec, Canada, May 7-13, 2010, (Tokuda J, Tuncali K, Iordachita I, Song S, Fedorov A, Oguro S, Lasso A, Fennessy FM, Tang Y, Tempany CM, Hata N, Feasibility of Wide-bore 3T MRI-guided Prostate Biopsy with Grid Template)

Contact Information

Mailing Address:
Surgical Planning Laboratory
Department of Radiology
Brigham and Women's Hospital
75 Francis Street, ASB-I, Room L1-050
Boston, MA, 02115

E-mail: tokuda at bwh.harvard.edu

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