ICRA'09 Paper Abstract


Paper FrC12.1

Kapoor, Ankur (National Institutes of Health), Wood, Brad (National Institutes of Health), Mazilu, Dumitru (National Institutes of Health), Horvath, Keith (National Institutes of Health), Li, Ming (National Institutes of Health)

MRI-Compatible Hands-On Cooperative Control of a Pneumatically Actuated Robot

Scheduled for presentation during the Regular Sessions "Medical Robotics - I" (FrC12), Friday, May 15, 2009, 13:30−13:50, Room: 504

2009 IEEE International Conference on Robotics and Automation, May 12 - 17, 2009, Kobe, Japan

This information is tentative and subject to change. Compiled on January 24, 2022

Keywords Medical Robots and Systems


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.



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