A hybrid method for 6-DOF tracking of MRI-compatible robotic interventional devices
Author
Krieger, A.
Metzger, G.
Fichtinger, G.
Atalar, Ergin
Whitcomb L. L.
Date
2006-05Source Title
Proceedings - IEEE International Conference on Robotics and Automation
Print ISSN
1050-4729
Pages
3844 - 3849
Language
English
Type
Conference PaperItem Usage Stats
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Abstract
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.
Keywords
Active tracking systemHybrid system
Magnetic resonance imaging scanners
Robotic medical instruments
Biomarkers
Degrees of freedom (mechanics)
Magnetic resonance imaging
Medical imaging
Tracking (position)
Mobile robots