Manipulator‐driven selection of semi‐active MR‐visible markers |
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| Authors: | Junmo An Andrew G Webb Dipan J Shah Karen Chin Nikolaos V Tsekos |
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| Institution: | 1. Medical Robotics Laboratory, University of Houston, Houston, TX, USA;2. C.J. Gorter Center for High Field MRI, Leiden University Medical Center, Leiden, Netherlands;3. Methodist DeBakey Cardiology Associates, Houston Methodist, Houston, TX, USA |
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| 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. |
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| Keywords: | interventional MRI manipulator‐driven MR‐compatible manipulator optically detunable semi‐active markers |
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