Manipulator-driven selection of semi-active MR-visible markers

Junmo An; Andrew G. Webb; Dipan J. Shah; Karen Chin; Nikolaos V. Tsekos

doi:10.1002/rcs.1846

Manipulator-driven selection of semi-active MR-visible markers

Junmo An, Andrew G. Webb, Dipan J. Shah, Karen Chin, Nikolaos V. Tsekos

Research output: Contribution to journal › Article › peer-review

2 Scopus citations

Abstract

Background: A method for the identification of semi-active fiducial magnetic resonance (MR) markers is presented based on selectively optically tuning and detuning them. Methods: Four inductively coupled solenoid coils with photoresistors were connected to light sources. A microcontroller timed the optical tuning/detuning of coils and image collection. The markers were tested on an MR manipulator linking the microcontroller to the manipulator control to visibly select the marker subset according to the actuated joint. Results: In closed-loop control, the average and maximum were 0.76° ± 0.41° and 1.18° errors for a rotational joint, and 0.87 mm ± 0.26 mm and 1.13 mm for the prismatic joint. Conclusions: This technique is suitable for MR-compatible actuated devices that use semi-active MR-compatible markers.

Original language	English (US)
Article number	e1846
Journal	International Journal of Medical Robotics and Computer Assisted Surgery
Volume	14
Issue number	1
DOIs	https://doi.org/10.1002/rcs.1846
State	Published - Feb 2018

Keywords

MR-compatible manipulator
interventional MRI
manipulator-driven
optically detunable
semi-active markers

ASJC Scopus subject areas

Surgery
Biophysics
Computer Science Applications

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10.1002/rcs.1846

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title = "Manipulator-driven selection of semi-active MR-visible markers",

abstract = "Background: A method for the identification of semi-active fiducial magnetic resonance (MR) markers is presented based on selectively optically tuning and detuning them. Methods: Four inductively coupled solenoid coils with photoresistors were connected to light sources. A microcontroller timed the optical tuning/detuning of coils and image collection. The markers were tested on an MR manipulator linking the microcontroller to the manipulator control to visibly select the marker subset according to the actuated joint. Results: In closed-loop control, the average and maximum were 0.76° ± 0.41° and 1.18° errors for a rotational joint, and 0.87 mm ± 0.26 mm and 1.13 mm for the prismatic joint. Conclusions: This technique is suitable for MR-compatible actuated devices that use semi-active MR-compatible markers.",

keywords = "MR-compatible manipulator, interventional MRI, manipulator-driven, optically detunable, semi-active markers",

author = "Junmo An and Webb, {Andrew G.} and Shah, {Dipan J.} and Karen Chin and Tsekos, {Nikolaos V.}",

note = "Funding Information: This work was supported by the National Science Foundation (NSF) under grant CNS-0932272. All opinions, findings, conclusions or recommendations expressed in this work are those of the authors and do not necessarily reflect the views of our sponsors. Publisher Copyright: Copyright {\textcopyright} 2017 John Wiley & Sons, Ltd.",

year = "2018",

month = feb,

doi = "10.1002/rcs.1846",

language = "English (US)",

volume = "14",

journal = "International Journal of Medical Robotics and Computer Assisted Surgery",

issn = "1478-5951",

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TY - JOUR

T1 - Manipulator-driven selection of semi-active MR-visible markers

AU - An, Junmo

AU - Webb, Andrew G.

AU - Shah, Dipan J.

AU - Chin, Karen

AU - Tsekos, Nikolaos V.

N1 - Funding Information: This work was supported by the National Science Foundation (NSF) under grant CNS-0932272. All opinions, findings, conclusions or recommendations expressed in this work are those of the authors and do not necessarily reflect the views of our sponsors. Publisher Copyright: Copyright © 2017 John Wiley & Sons, Ltd.

PY - 2018/2

Y1 - 2018/2

N2 - Background: A method for the identification of semi-active fiducial magnetic resonance (MR) markers is presented based on selectively optically tuning and detuning them. Methods: Four inductively coupled solenoid coils with photoresistors were connected to light sources. A microcontroller timed the optical tuning/detuning of coils and image collection. The markers were tested on an MR manipulator linking the microcontroller to the manipulator control to visibly select the marker subset according to the actuated joint. Results: In closed-loop control, the average and maximum were 0.76° ± 0.41° and 1.18° errors for a rotational joint, and 0.87 mm ± 0.26 mm and 1.13 mm for the prismatic joint. Conclusions: This technique is suitable for MR-compatible actuated devices that use semi-active MR-compatible markers.

AB - Background: A method for the identification of semi-active fiducial magnetic resonance (MR) markers is presented based on selectively optically tuning and detuning them. Methods: Four inductively coupled solenoid coils with photoresistors were connected to light sources. A microcontroller timed the optical tuning/detuning of coils and image collection. The markers were tested on an MR manipulator linking the microcontroller to the manipulator control to visibly select the marker subset according to the actuated joint. Results: In closed-loop control, the average and maximum were 0.76° ± 0.41° and 1.18° errors for a rotational joint, and 0.87 mm ± 0.26 mm and 1.13 mm for the prismatic joint. Conclusions: This technique is suitable for MR-compatible actuated devices that use semi-active MR-compatible markers.

KW - MR-compatible manipulator

KW - interventional MRI

KW - manipulator-driven

KW - optically detunable

KW - semi-active markers

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ER -

Manipulator-driven selection of semi-active MR-visible markers

Abstract

Keywords

ASJC Scopus subject areas

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