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ICRA
2006
IEEE

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

14 years 5 months ago
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.
Axel Krieger, G. Metzger, Gabor Fichtinger, Ergin
Added 11 Jun 2010
Updated 11 Jun 2010
Type Conference
Year 2006
Where ICRA
Authors Axel Krieger, G. Metzger, Gabor Fichtinger, Ergin Atalar, Louis L. Whitcomb
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