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

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

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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.

Original languageEnglish (US)
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
Pages3844-3849
Number of pages6
Volume2006
DOIs
StatePublished - 2006
Event2006 IEEE International Conference on Robotics and Automation, ICRA 2006 - Orlando, FL, United States
Duration: May 15 2006May 19 2006

Other

Other2006 IEEE International Conference on Robotics and Automation, ICRA 2006
CountryUnited States
CityOrlando, FL
Period5/15/065/19/06

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering

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