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

Date

2006-05

Authors

Krieger, A.
Metzger, G.
Fichtinger, G.
Atalar, Ergin
Whitcomb L. L.

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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.

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Proceedings - IEEE International Conference on Robotics and Automation

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Published Version (Please cite this version)

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English