A Hybrid Method for 6-DOF Tracking of MRI-compatible Robotic Interventional Devices

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 MRIcompatible 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.

• Type: Conference
• Year: 2006
• Where: ICRA
• Authors: Axel Krieger, G. Metzger, Gabor Fichtinger, Ergin Atalar, Louis L. Whitcomb
• Keywords: Active Tracking System, ICRA 2006, Magnetic Resonance Imaging, MRI fiducial Markers, Robotics