Manipulator-driven selection of semi-active MR-visible markers
Manipulator-driven selection of semi-active MR-visible markers
复制标题
机械手驱动的半主动 MR 可见标记选择
DOI：
10.1002/rcs.1846
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发表时间：
2018
期刊：
影响因子：
--
通讯作者：
Tsekos, Nikolaos V.
中科院分区：
文献类型：
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作者：
An, Junmo;Webb, Andrew G.;Shah, Dipan J.;Chin, Karen;Tsekos, Nikolaos V.
BackgroundA方法识别半主动基准磁共振（MR）标记的基础上选择性地光学调谐和失谐them.MethodsFour电感耦合螺线管线圈与光敏电阻连接到光源。微控制器对线圈的光学调谐/失谐和图像收集进行定时。标记进行了测试的MR机械手连接的微控制器的机械手控制可视地选择标记子集根据致动joint.ResultsIn闭环控制，平均值和最大值为0.76° ± 0.41°和1.18°的误差为旋转关节，棱柱关节为0.87 mm ± 0.26 mm和1.13 mm.ConclusionsThis技术适用于使用半主动MR兼容标记的MR兼容驱动器械。
BackgroundA method for the identification of semi‐active fiducial magnetic resonance (MR) markers is presented based on selectively optically tuning and detuning them.MethodsFour 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.ResultsIn 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.ConclusionsThis technique is suitable for MR‐compatible actuated devices that use semi‐active MR‐compatible markers.