Abstract #4143
Dynamic Scan Plane Control for Effective MRI-Guided Robotic Intervention
Mahamadou Diakite 1 , Steve Roys 1 , Yeongjin Kim 2 , Taehoon Shin 1 , Mark J Simard 3 , Jaydev P Desai 2 , and Rao P Gullapalli 1
1
Center for Metabolic Imaging and
Therapeutics, Depart. of Diagnostic Radiology and
Nuclear Medicine, University of Maryland, School of
Medicine, Baltimore, MD, United States,
2
Mechanical
Engineering, University of Maryland, College Park, MD,
United States,
3
Neurosurgery,
University of Maryland, School of Medicine, Baltimore,
MD, United States
Real-time tracking and navigation is important for
effective use of surgical robotic devices with multiple
degrees-of-freedom, and especially ones that have
multiple end effector functions including cauterization.
The goal of this study is to develop a real-time MRI
system for tracking and visualizing the interventional
device using a passive magnetic sensor and a closed-loop
control algorithm. Its technical feasibility is
demonstrated on a phantom.
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