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

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A hybrid method for 6-DOF tracking of MRI-compatible robotic interventional devices.pdf (849.02 KB)

Date

2006-05

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Source Title

Proceedings - IEEE International Conference on Robotics and Automation

Print ISSN

1050-4729

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Pages

3844 - 3849

Language

English

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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.

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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

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http://hdl.handle.net/11693/27133

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http://dx.doi.org/10.1109/ROBOT.2006.1642290

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Department of Electrical and Electronics Engineering