MRI-compatible hands-on cooperative control of a pneumatically actuated robot

Author

Kapoor, Ankur ; Wood, Brad ; Mazilu, Dumitru ; Horvath, Keith A. ; Li, Ming

Author_Institution

Clinical Center, Nat. Institutes of Health, Bethesda, MD, USA

fYear

2009

fDate

12-17 May 2009

Firstpage

2681

Lastpage

2686

Abstract

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.

Keywords

biomedical MRI; cooperative systems; medical robotics; pneumatic control equipment; robot vision; MRI-compatible hands-on cooperative control; image guided interventions; innomotion robotic arm; magnetic resonance imaging; pneumatically actuated robot; Biological tissues; Costs; Heart; Magnetic resonance imaging; Medical robotics; Robot control; Robot sensing systems; Robotics and automation; USA Councils; Valves;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2009. ICRA '09. IEEE International Conference on

Conference_Location

Kobe

ISSN

1050-4729

Print_ISBN

978-1-4244-2788-8

Electronic_ISBN

1050-4729

Type

conf

DOI

10.1109/ROBOT.2009.5152541

Filename

5152541