System for 3-D Real-Time Tracking of MRI-Compatible Devices by Image Processing

Author

Rea, Marc ; Mcrobbie, Donald ; Elhawary, Haytham ; Tse, Zion Tsz Ho ; Lamperth, Michael ; Young, Ian

Author_Institution

Radiol. Sci. Unit, Imperial Coll. Healthcare, London

Volume

13

Issue

3

fYear

2008

fDate

6/1/2008 12:00:00 AM

Firstpage

379

Lastpage

382

Abstract

Real-time processing of MRIs is reported as a method of 3D tracking of mechanical devices within the field of view using passive microcoil fiducials. The specific implementation described makes use of two scan planes for full 3D tracking of a 5-DOF manipulator arm used for prostate biopsy under image guidance. Real-time tracking was observed with a maximum update rate of 0.42 frames per second for a maximum probe velocity of 10 mm/s. The localization of fiducials had a mean error of 0.36 (plusmn0.17) mm (p < 0.02), leading to a mean error in the needle tip position of 2.6 (plusmn0.3) mm (p < 0.05).

Keywords

biomedical MRI; manipulators; medical robotics; robot vision; tracking; 3D real-time tracking; 5-DOF manipulator arm; MRI-compatible devices; image guidance; image processing; mechanical devices; passive microcoil fiducials; prostate biopsy; Biomedical imaging; Hospitals; Image processing; Laboratories; Magnetic resonance imaging; Mechatronics; Medical services; Needles; Probes; Real time systems; Device tracking; MRI; fiducials; mechatronics;

fLanguage

English

Journal_Title

Mechatronics, IEEE/ASME Transactions on

Publisher

ieee

ISSN

1083-4435

Type

jour

DOI

10.1109/TMECH.2008.924132

Filename

4542812