Abstract #3591

Tracking of a Robotic Device by Controlling the Visibility of Markers from the Robot Control

Junmo An¹, Eftychios G. Christoforou², Karen Chin³, Jeremy Hinojosa³, Dipan J. Shah³, Andrew G. Webb⁴, and Nikolaos V. Tsekos¹

¹University of Houston, Houston, TX, United States, ²University of Cyprus, Nicosia, Cyprus, ³Houston Methodist, Houston, TX, United States, ⁴Leiden University Medical Center, Leiden, Netherlands

Integrated control system of the manipulator and marker control is important for localization and tracking of multiple optically detunable MR markers on MR-compatible manipulators. Selecting which markers are visible on MR images by the motion of the maneuvering portion of the MR-compatible manipulators allows unambiguous identification of a combination of markers and simplifies both the data acquisition and the post processing. This proposed technique can be employed to track multiple marker positions on interventional devices such as the steerable catheters and the end-effectors of the MR-compatible manipulator.

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