title: MRI-compatible Hands-on Cooperative Control of a Pneumatically Actuated Robot.
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.
authors.affiliation: Clinical Center, National Institutes of Health, Bethesda, MD, USA.
authors.forename: Ankur
authors.initials: A
authors.lastname: Kapoor
authors.forename: Brad
authors.initials: B
authors.lastname: Wood
authors.forename: Dumitru
authors.initials: D
authors.lastname: Mazilu
authors.forename: Keith A
authors.initials: KA
authors.lastname: Horvath
authors.forename: Ming
authors.initials: M
authors.lastname: Li