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Closed Loop Control of an MR-Conditional Robot with Wireless Tracking Coil Feedback.

Yue Chen1, Joseph Howard2, Isuru Godage3

  • 1Department of Mechanical Engineering, University of Arkansas, Fayetteville, AR, 72701, USA. yc039@uark.edu.

Annals of Biomedical Engineering
|June 21, 2019
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Summary

This study introduces a novel MR-conditional robot system with wireless tracking for enhanced MRI-guided procedures. The new system significantly improves targeting accuracy compared to traditional methods.

Keywords:
MR-conditional robotRobot controlWireless tracking

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Area of Science:

  • Robotics
  • Medical Imaging
  • Control Systems

Background:

  • MR-conditional robots require precise control within MRI scanners.
  • Existing feedback systems can have limitations in accuracy and practical application.

Purpose of the Study:

  • To develop and evaluate a hardware and software system for accurate task space control of an MR-conditional robot.
  • To enhance robot accuracy by integrating wireless tracking feedback into the control loop.

Main Methods:

  • Designed an MR-conditional robot with a custom communication system.
  • Integrated an inductively coupled wireless coil-based tracking feedback system.
  • Evaluated system performance including targeting accuracy, data speed, and control accuracy inside an MRI scanner.

Main Results:

  • Achieved a targeting error of 0.17 ± 0.08 mm using wireless tracking feedback.
  • Traditional joint space optical encoder feedback resulted in a larger error of 0.68 ± 0.19 mm.
  • Demonstrated high data communication speed and image quality.

Conclusions:

  • The developed MR-conditional robot system with wireless tracking significantly improves targeting accuracy.
  • This technology addresses system uncertainties and enhances performance in practical MRI-guided scenarios.