Paper Info
Title
Tracking and position control of an MRI-powered needle-insertion robot.
Abstract
The excellent imaging capabilities of MRI technology are standardizing this modality for a variety of interventional procedures. To assist radiologists, MRI compatible robots relying on traditional actuation technologies are being developed. Recently, a robot that is not only MRI compatible but also MRI powered was introduced. This surgical robot is imaged and actuated through interleaved MRI pulses, and can be controlled to perform automated needle insertion. Using the electromagnetic field generated by the MRI scanner, the robot can exercise adequate forces to puncture tissue. Towards the goal of automation, this paper reports results on tracking and control of an MRI-powered robot tagged with a fiducial marker. Tracking is achieved using non-selective RF pulses and balanced gradient readouts. To suppress the signal received from the tissue, spoiler gradients and background suppression are introduced. Their effects on tracking are quantified and are used to optimize the algorithm. Subsequently, a Kalman filter is employed for robustness. The developed algorithm is used to demonstrate position controlled needle insertion ex vivo.
Year
DOI
Venue
2012
10.1109/EMBC.2012.6346084
EMBC
Keywords
Field
DocType
medical robotics,robustness,background suppression,kalman filter,interleaved mri pulses,spoiler gradients,kalman filters,mri scanner,robust control,ex vivo position controlled needle insertion,electromagnetic field,mri-powered needle-insertion robot,biomedical mri,traditional actuation technology,tracking,mri compatible robots,radiologists,needles,nonselective rf pulses,surgical robot,actuators,fiducial marker,gradient readouts,automated needle insertion,biological tissues,position control,puncture tissue,surgery,robot vision,tracking control
Computer vision,Fiducial marker,Simulation,Computer science,Kalman filter,Robustness (computer science),Automation,Scanner,Artificial intelligence,Robot,Robust control,Actuator
Conference
Volume
ISSN
ISBN
2012
1557-170X
978-1-4577-1787-1
Citations 
PageRank 
References 
5
0.86
3
Authors
4
Name
Order
Citations
PageRank
Christos Bergeles13610.69
Lei Qin2162.34
Panagiotis Vartholomeos371.28
Pierre E Dupont41399187.89