MRI-compatible hands-on cooperative control of a pneumatically actuated robot

Proceedings - IEEE International Conference on Robotics and Automation

Volumn , Issue , 2009, Pages 2681-2686

  Kapoor, Ankur ^a   Wood, Brad ^a   Mazilu, Dumitru ^b   Horvath, Keith A ^b   Li, Ming ^b  

^a NATIONAL INSTITUTES OF HEALTH   (United States)

^b NATIONAL HEART LUNG AND BLOOD INSTITUTE   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

CO-OPERATIVE CONTROL; COOPERATIVE SYSTEMS; IMAGE-GUIDED INTERVENTION; MRI COMPATIBLE; PERFORMANCE IMPROVEMENTS; SHARED CONTROL; TYPICAL APPLICATION; USER INPUT;

PHASE INTERFACES; ROBOTICS;

ROBOTS;

EID: 70350370285     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ROBOT.2009.5152541     Document Type: Conference Paper

References (18)

1. E. R. McVeigh, et al., "Real-time Interactive MRI-Guided Car-diac Surgery: Aortic Valve Replacement Using a Direct Apical ApproachReal-time, " Magn Reson Med., vol. 56, pp. 958-964, 2006.
2. K. Chinzei, et al., "MR Compatible Surgical Assist Robot: System Integration and Preliminary Feasibility Study, " in MICCAI, 2000, pp. 921-930.
3. D. Stoianovici, et al., ""MRI Stealth" robot for prostate interventions, " Minim Invasive Ther Allied Technol., vol. 16, no. 4, pp. 241-248, 2007.
4. G. S. Fischer, et al., "Pneumatically Operated MRI-Compatible Needle Placement Robot for Prostate Interventions, " Proc. IEEE ICRA, pp. 2489-2495, 2008.
5. N. Yu, et al., "An fMRI compatible haptic interface with pneumatic actuation, " in Intl. Conf. Rehab. Robot., 2007, pp. 714-720.
6. R. Gassert, et al., "MRI/fMRI-Compatible Robotic System With Force Feedback for Interaction With Human Motion, " IEEE/ASME Trans. Mechatron., vol. 11, no. 2, pp. 216-224, 2006.
7. J. Harja, et al., "Magnetic resonance imaging-compatible, three-degrees-of-freedom joystick for surgical robot, " Int J Med Robot., vol. 3, no. 4, pp. 365-371, 2007.
8. N. Takahashi, et al., "An optical 6-axis force sensor for brain function analysis using fMRI, " Proc. IEEE Sensors, vol. 1, pp. 253-258, Oct. 2003.
9. M. Tada and T. Kanade, "Design of an MR-compatible three-axis force sensor, " Proc. IEEE/RSJ IROS, pp. 3505-3510, Aug. 2005.
10. G. Hirzinger, et al., "Advances in Robotics: The DLR Experience, " Intl. J. Robot. Res., vol. 18, no. 11, pp. 1064-1087, 1999.
11. R. H. Taylor, et al., "A Steady-Hand robotic system for microsurgical augmentation, " Intl. J. Robot. Res., vol. 18, no. 12, pp. 1201-1210, 1999.
12. B. L. Davies, et al., "Active compliance in robotic surgery-the use of force control as a dynamic constraint, " Proc. Inst. Mech. Eng. H, vol. 211, no. 4, pp. 285-292, 1997.
13. M. Li, D. Mazilu, and K. A. Horvath, "Robotic system for transapical aortic valve replacement with mri guidance, " in MICCAI, 2008.
14. J. M. Sackier and Y. Wang, "Robotically assisted laparoscopic surgery. From concept to development." Surg. Endosc., vol. 8, no. 1, pp. 63-66, Jan. 1994.
15. A. Melzer, et al., "Innomotion for percutaneous image-guided interven-tions: principles and evaluation of this mr-and ct-compatible robotic system." IEEE Eng. Med. Biol. Mag., vol. 27, no. 3, pp. 66-73, 2008.
16. A. Kapoor, M. Li, and R. H. Taylor, "Constrained control for surgical assistant robots, " in Proc. IEEE ICRA, 2006, pp. 231-236.
17. J. Heindl and G. Hirzinger, "Device for programming movements of a robot, " U. S. Patent No.: 4589810, Tech. Rep., 1986.
18. C. Ishi, et al., "A Robust Speech Recognition System for Communica-tion Robots in Noisy Environments, " IEEE Trans. Robot., vol. 24, no. 3, pp. 759-763, June 2008.