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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