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

Date
2006-05
Advisor
Supervisor
Co-Advisor
Co-Supervisor
Instructor
Source Title
Proceedings - IEEE International Conference on Robotics and Automation
Print ISSN
1050-4729
Electronic ISSN
Publisher
Volume
Issue
Pages
3844 - 3849
Language
English
Type
Conference Paper
Journal Title
Journal ISSN
Volume Title
Series
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.

Course
Other identifiers
Book Title
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
Citation
Published Version (Please cite this version)