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

被引：0
|
作者：
Kapoor, Ankur [1 ]
Wood, Brad [1 ]
Mazilu, Dumitru [2 ]
Horvath, Keith A. [2 ]
Li, Ming [2 ]
机构：
[1] NIH, Ctr Clin, Bethesda, MD 20892 USA
[2] Natl Inst Hlth, Natl Heart Lung & Blood Inst, Bethesda, MD 20892 USA
来源：
ICRA: 2009 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-7 | 2009年
基金：
美国国家卫生研究院;
关键词：
SURGERY; SYSTEM;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
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 MM 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.
引用
收藏
页码：2281 / +
页数：2
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