TY - GEN
T1 - A hybrid method for 6-DOF tracking of MRI-compatible robotic interventional devices
AU - Krieger, A.
AU - Metzger, G.
AU - Fichtinger, G.
AU - Atalar, E.
AU - Whitcomb, L. L.
PY - 2006
Y1 - 2006
N2 - 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.
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.
UR - http://www.scopus.com/inward/record.url?scp=33845658328&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=33845658328&partnerID=8YFLogxK
U2 - 10.1109/ROBOT.2006.1642290
DO - 10.1109/ROBOT.2006.1642290
M3 - Conference contribution
AN - SCOPUS:33845658328
SN - 0780395069
SN - 9780780395060
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 3844
EP - 3849
BT - Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006
T2 - 2006 IEEE International Conference on Robotics and Automation, ICRA 2006
Y2 - 15 May 2006 through 19 May 2006
ER -