磁共振成像兼容的气动驱动机器人的手动协同控制
MRI-compatible Hands-on Cooperative Control of a Pneumatically Actuated Robot.
作者信息
Kapoor Ankur, Wood Brad, Mazilu Dumitru, Horvath Keith A, Li Ming
机构信息
Clinical Center, National Institutes of Health, Bethesda, MD, USA.
出版信息
IEEE Int Conf Robot Autom. 2009 Jul 6;2009:2681-2686. doi: 10.1109/ROBOT.2009.5152541.
Abstract
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.
摘要
磁共振成像（MRI）兼容机器人正逐渐成为图像引导介入治疗的有用工具。用户与MRI兼容机器人之间的共享控制使其成为更直观的器械，尤其是在介入治疗的设置阶段。我们展示了一种使用Innomotion机器人手臂的MRI兼容动手协作系统。开发了一种经济的MRI兼容用户输入传感器，并在典型应用条件下测试了其功能。在模拟任务中的性能提升表明在MRI兼容机器人中添加动手界面具有前景。
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