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      A hybrid method for 6-DOF tracking of MRI-compatible robotic interventional devices

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      Author
      Krieger, A.
      Metzger, G.
      Fichtinger, G.
      Atalar, Ergin
      Whitcomb L. L.
      Date
      2006-05
      Source Title
      Proceedings - IEEE International Conference on Robotics and Automation
      Print ISSN
      1050-4729
      Pages
      3844 - 3849
      Language
      English
      Type
      Conference Paper
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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 system
      Hybrid system
      Magnetic resonance imaging scanners
      Robotic medical instruments
      Biomarkers
      Degrees of freedom (mechanics)
      Magnetic resonance imaging
      Medical imaging
      Tracking (position)
      Mobile robots
      Permalink
      http://hdl.handle.net/11693/27133
      Published Version (Please cite this version)
      http://dx.doi.org/10.1109/ROBOT.2006.1642290
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