Krieger, A.Metzger, G.Fichtinger, G.Atalar, ErginWhitcomb L. L.2016-02-082016-02-082006-051050-4729http://hdl.handle.net/11693/27133Date of Conference: 15-19 May 2006Conference name: Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006This 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.EnglishActive tracking systemHybrid systemMagnetic resonance imaging scannersRobotic medical instrumentsBiomarkersDegrees of freedom (mechanics)Magnetic resonance imagingMedical imagingTracking (position)Mobile robotsConference Paper10.1109/ROBOT.2006.1642290