MRI-compatible Hands-on Cooperative Control of a Pneumatically Actuated Robot.
MRI-compatible Hands-on Cooperative Control of a Pneumatically Actuated Robot.
复制标题
DOI：
10.1109/robot.2009.5152541
复制
发表时间：
2009-07-06
期刊：
影响因子：
--
通讯作者：
Li M
中科院分区：
文献类型：
--
作者：
Kapoor A;Wood B;Mazilu D;Horvath KA;Li M
MRI兼容机器人正在成为图像引导干预的有用工具。用户和MRI兼容机器人之间的共享控制使其更直观，尤其是在介入的设置阶段。我们提出了一个MRI兼容，动手合作系统使用Innomotion机械臂。一个经济的MRI兼容的用户输入传感器的开发和其功能进行了测试，在典型的应用条件下。幻影任务的性能改进显示了在MRI兼容机器人中添加动手界面的前景。
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 MRI 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.