Title :
MRI-compatible hands-on cooperative control of a pneumatically actuated robot
Author :
Kapoor, Ankur ; Wood, Brad ; Mazilu, Dumitru ; Horvath, Keith A. ; Li, Ming
Author_Institution :
Clinical Center, Nat. Institutes of Health, Bethesda, MD, USA
Abstract :
MRI compatible robots are emerging as useful tools for image guided interventions. A shared control between a user and the MRI compatible robot makes it more intuitive instrument especially during setup phases of interventions. We present a MRI compatible, hands-on cooperative system using innomotion robotic arm. An economic MRI compatible user input sensor was developed and its functionality was tested under typical application conditions. Performance improvement in phantom tasks shows promise of adding hands-on interface in MRI compatible robots.
Keywords :
biomedical MRI; cooperative systems; medical robotics; pneumatic control equipment; robot vision; MRI-compatible hands-on cooperative control; image guided interventions; innomotion robotic arm; magnetic resonance imaging; pneumatically actuated robot; Biological tissues; Costs; Heart; Magnetic resonance imaging; Medical robotics; Robot control; Robot sensing systems; Robotics and automation; USA Councils; Valves;
Conference_Titel :
Robotics and Automation, 2009. ICRA '09. IEEE International Conference on
Conference_Location :
Kobe
Print_ISBN :
978-1-4244-2788-8
Electronic_ISBN :
1050-4729
DOI :
10.1109/ROBOT.2009.5152541
