A hybrid method for 6-DOF tracking of MRI-compatible robotic interventional devices
Whitcomb L. L.
Proceedings - IEEE International Conference on Robotics and Automation
3844 - 3849
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This paper reports a novel hybrid method of tracking the position and orientation of robotic medical instruments within the imaging volume of a magnetic resonance imaging (MRI) system. The method utilizes two complementary measurement techniques: passive MRI fiducial markers and MRI-compatible joint encoding. This paper reports an experimental evaluation of the tracking accuracy of this system. The accuracy of this system compares favorably to that of a previously reported active tracking system. Moreover, the hybrid system is quickly and easily deployed on different MRI scanner systems. © 2006 IEEE.
KeywordsActive tracking system
Magnetic resonance imaging scanners
Robotic medical instruments
Degrees of freedom (mechanics)
Magnetic resonance imaging