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

被引：22

作者：

Krieger, A. ^{[1
,2
]}

Metzger, G. ^{[4
]}

Fichtinger, G. ^{[2
,3
]}

Atalar, E. ^{[3
,5
,6
]}

Whitcomb, L. L. ^{[1
,2
]}

机构：

[1] Johns Hopkins Univ, Dept Mech Engn, Baltimore, MD 21218 USA

[2] Johns Hopkins Univ, CISST Engn Res Ctr, Baltimore, MD 21218 USA

[3] Johns Hopkins Univ, Dept Radiol, Baltimore, MD 21218 USA

[4] Philips Med Syst, Bethesda, MD USA

[5] Univ Minnesota, Ctr Magnet Resonance Res, Minneapolis, MN 55455 USA

[6] Bilkent Univ, Dept Elect & Elect Engn, Ankara, Turkey

来源：

2006 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), VOLS 1-10 | 2006年

关键词：

D O I：

10.1109/ROBOT.2006.1642290

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

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.

引用

页码：3844 / +

页数：2

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