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

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

doi:10.1109/ROBOT.2006.1642290

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

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

School of Medicine

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

24 Scopus citations

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)
Title of host publication	Proceedings - IEEE International Conference on Robotics and Automation
Pages	3844-3849
Number of pages	6
Volume	2006
DOIs	https://doi.org/10.1109/ROBOT.2006.1642290
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
Country/Territory	United States
City	Orlando, FL
Period	5/15/06 → 5/19/06

ASJC Scopus subject areas

Software
Control and Systems Engineering

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10.1109/ROBOT.2006.1642290

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Krieger, A, Metzger, G, Fichtinger, G, Atalar, E & Whitcomb, LL 2006, A hybrid method for 6-DOF tracking of MRI-compatible robotic interventional devices. in Proceedings - IEEE International Conference on Robotics and Automation. vol. 2006, 1642290, pp. 3844-3849, 2006 IEEE International Conference on Robotics and Automation, ICRA 2006, Orlando, FL, United States, 5/15/06. https://doi.org/10.1109/ROBOT.2006.1642290

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AB - 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.

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BT - Proceedings - IEEE International Conference on Robotics and Automation

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ER -

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

Abstract

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