MRI-compatible Hands-on Cooperative Control of a Pneumatically Actuated Robot

Area of Science:

• Robotics
• Medical Imaging
• Interventional Radiology

Background:

• Magnetic Resonance Imaging (MRI) compatible robots are increasingly used for image-guided interventions.
• Shared control systems enhance user interaction with robotic instruments during complex procedures.
• Intuitive control is crucial, especially during the setup phases of interventions.

Purpose of the Study:

• To present a novel MRI compatible, hands-on cooperative robotic system.
• To develop and test an economical MRI compatible user input sensor.
• To evaluate the system's performance and potential for improving intervention setup.

Main Methods:

• Development of a hands-on cooperative control system utilizing an Innomotion robotic arm.
• Design and implementation of an economic MRI compatible user input sensor.
• Functional testing of the sensor and system under typical MRI-guided intervention conditions.
• Performance evaluation using phantom tasks.

Main Results:

• The developed MRI compatible user input sensor demonstrated functionality under application conditions.
• The hands-on cooperative system showed promise for intuitive instrument control.
• Performance improvements were observed in phantom tasks utilizing the new interface.

Conclusions:

• The integration of a hands-on interface enhances the usability of MRI compatible robots.
• The developed economic sensor is a viable component for cooperative MRI robotic systems.
• This approach shows potential for improving the efficiency and intuitiveness of MRI-guided interventions.