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

Author

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

Author_Institution

Dept. of Mech. Eng., Johns Hopkins Univ., Baltimore, MD

fYear

2006

fDate

15-19 May 2006

Firstpage

3844

Lastpage

3849

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

Keywords

biomedical MRI; medical image processing; medical robotics; 6-dof tracking; MRI-compatible robotic interventional devices; magnetic resonance imaging system; robotic medical instruments; Biomedical imaging; Biomedical optical imaging; Encoding; Instruments; Magnetic resonance imaging; Medical robotics; Needles; Optical imaging; Optical sensors; Robots;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2006. ICRA 2006. Proceedings 2006 IEEE International Conference on

Conference_Location

Orlando, FL

ISSN

1050-4729

Print_ISBN

0-7803-9505-0

Type

conf

DOI

10.1109/ROBOT.2006.1642290

Filename

1642290