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
Center for Metabolic Imaging and
Therapeutics, Depart. of Diagnostic Radiology and
Nuclear Medicine, University of Maryland, School of
Medicine, Baltimore, MD, United States,
Engineering, University of Maryland, College Park, MD,
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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