TY - GEN
T1 - MRI-compatible hands-on cooperative control of a pneumatically actuated robot
AU - Kapoor, Ankur
AU - Wood, Brad
AU - Mazilu, Dumitru
AU - Horvath, Keith A.
AU - Li, Ming
PY - 2009
Y1 - 2009
N2 - MRI compatible robots are emerging as useful tools for image guided interventions. A shared control between a user and the MRI compatible robot makes it more intuitive instrument especially during setup phases of interventions. We present a MRI compatible, hands-on cooperative system using Innomotion robotic arm. An economic MRI compatible user input sensor was developed and its functionality was tested under typical application conditions. Performance improvement in phantom tasks shows promise of adding hands-on interface in MRI compatible robots.
AB - MRI compatible robots are emerging as useful tools for image guided interventions. A shared control between a user and the MRI compatible robot makes it more intuitive instrument especially during setup phases of interventions. We present a MRI compatible, hands-on cooperative system using Innomotion robotic arm. An economic MRI compatible user input sensor was developed and its functionality was tested under typical application conditions. Performance improvement in phantom tasks shows promise of adding hands-on interface in MRI compatible robots.
UR - http://www.scopus.com/inward/record.url?scp=70350370285&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=70350370285&partnerID=8YFLogxK
U2 - 10.1109/ROBOT.2009.5152541
DO - 10.1109/ROBOT.2009.5152541
M3 - Conference contribution
AN - SCOPUS:70350370285
SN - 9781424427895
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 2681
EP - 2686
BT - 2009 IEEE International Conference on Robotics and Automation, ICRA '09
T2 - 2009 IEEE International Conference on Robotics and Automation, ICRA '09
Y2 - 12 May 2009 through 17 May 2009
ER -