Abstract #1442

Lee A, Tsekos N, Christoforou E

The aim of this work is to develop a versatile MR image-based control scheme for safe and collision-free operation of MR-compatible manipulators inside high-field MR cylindrical scanners for performing interventions with real-time image guidance. For this purpose MR images are used to construct a solid model of the volume occupied by a subject inside the scanner and define the allowable space of maneuvering. The current position of the manipulator relevant to the patient is updated in real-time and is ensured that the prohibited operation volume is not violated. This implement was successfully tested experimentally using free-hand control of the manipulator.