MRI-compatible hands-on cooperative control of a pneumatically actuated robot

MRI-compatible hands-on cooperative control of a pneumatically actuated robot

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 innomotio...

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Veröffentlicht in:2009 IEEE International Conference on Robotics and Automation 2009-07, Vol.2009, p.2681-2686
Hauptverfasser: Kapoor, A., Wood, B., Mazilu, D., Horvath, K.A., Ming Li
Format: Artikel
Sprache:eng
Schlagworte:
Biological tissues
Costs
Heart
Magnetic resonance imaging
Medical robotics
Robot control
Robot sensing systems
Robotics and automation
USA Councils
Valves
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container_title 2009 IEEE International Conference on Robotics and Automation
container_volume 2009
creator Kapoor, A.
Wood, B.
Mazilu, D.
Horvath, K.A.
Ming Li
description 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.
doi_str_mv 10.1109/ROBOT.2009.5152541
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subjects Biological tissues
Costs
Heart
Magnetic resonance imaging
Medical robotics
Robot control
Robot sensing systems
Robotics and automation
USA Councils
Valves
title MRI-compatible hands-on cooperative control of a pneumatically actuated robot
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