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 language | English (US) |
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Title of host publication | Proceedings - IEEE International Conference on Robotics and Automation |
Pages | 3844-3849 |
Number of pages | 6 |
Volume | 2006 |
DOIs | |
State | Published - 2006 |
Event | 2006 IEEE International Conference on Robotics and Automation, ICRA 2006 - Orlando, FL, United States Duration: May 15 2006 → May 19 2006 |
Other
Other | 2006 IEEE International Conference on Robotics and Automation, ICRA 2006 |
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Country/Territory | United States |
City | Orlando, FL |
Period | 5/15/06 → 5/19/06 |
ASJC Scopus subject areas
- Software
- Control and Systems Engineering