Enhancing the Accuracy of MRI-Compatible Robots with an Optical Tracking System

Petri Junttila, Kalervo Nevala, Petter Kroneld

Research output: Chapter in Book/Report/Conference proceedingChapter or book articleScientificpeer-review

Abstract

Magnetic resonance imaging (MRI) is currently a widely used technology for obtaining a three-dimensional image of a patient’s internal structures. This study examines the measurement properties of an optical tracking system utilised in the MRI room. The results were used to assess the suitability of the device to be used as a part of the control system of a surgical robot. The position and orientation of the instrument, MRI scanner and the patient are measured using an optical tracking system in the MRI room. The measurement data can be used to display the instrument used as a part of the image of the patient. The optical tracking system used in the MRI room can also be considered as a part of the control system of a robot located in the room. When considering such use, the operations of the measuring device in different measurement conditions must be known. In terms of robot control, it is important to know the deviation attributed to measurement when defining the translation vector and orientation between two trackers. Five measurement series were carried out using the measurement device to examine the deviation in the translation vector and orientation data between two trackers. The distance and position between the trackers were changed between the measurement series. During the measurement series, the measurement device was moved to different distances from the trackers and the translation vector and orientation between the trackers were defined on the basis of the measurement results obtained. The measurements showed that the deviation of the translation vector did not significantly change as the measurement distance increased, but the deviation of orientation data between different trackers increased significantly. Deviation in the translation vector increased as the distance between trackers increased, but deviation in orientation did not change significantly.
Original languageEnglish
Title of host publicationMechatronic Systems and Materials II
EditorsInga Skiedraite, Jolanta Baskutiene
Pages191-195
DOIs
Publication statusPublished - 2009
MoE publication typeA3 Part of a book or another research book

Publication series

SeriesSolid State Phenomena
Volume144
ISSN1012-0394

Fingerprint

optical tracking
robots
magnetic resonance
deviation
rooms
robot control
scanners

Keywords

  • MRI-compatible robot
  • optical tracking
  • quaternion

Cite this

Junttila, P., Nevala, K., & Kroneld, P. (2009). Enhancing the Accuracy of MRI-Compatible Robots with an Optical Tracking System. In I. Skiedraite, & J. Baskutiene (Eds.), Mechatronic Systems and Materials II (pp. 191-195). Solid State Phenomena, Vol.. 144 https://doi.org/10.4028/www.scientific.net/SSP.144.191
Junttila, Petri ; Nevala, Kalervo ; Kroneld, Petter. / Enhancing the Accuracy of MRI-Compatible Robots with an Optical Tracking System. Mechatronic Systems and Materials II. editor / Inga Skiedraite ; Jolanta Baskutiene. 2009. pp. 191-195 (Solid State Phenomena, Vol. 144).
@inbook{f59188bf99d842c29625062d7e526b4d,
title = "Enhancing the Accuracy of MRI-Compatible Robots with an Optical Tracking System",
abstract = "Magnetic resonance imaging (MRI) is currently a widely used technology for obtaining a three-dimensional image of a patient’s internal structures. This study examines the measurement properties of an optical tracking system utilised in the MRI room. The results were used to assess the suitability of the device to be used as a part of the control system of a surgical robot. The position and orientation of the instrument, MRI scanner and the patient are measured using an optical tracking system in the MRI room. The measurement data can be used to display the instrument used as a part of the image of the patient. The optical tracking system used in the MRI room can also be considered as a part of the control system of a robot located in the room. When considering such use, the operations of the measuring device in different measurement conditions must be known. In terms of robot control, it is important to know the deviation attributed to measurement when defining the translation vector and orientation between two trackers. Five measurement series were carried out using the measurement device to examine the deviation in the translation vector and orientation data between two trackers. The distance and position between the trackers were changed between the measurement series. During the measurement series, the measurement device was moved to different distances from the trackers and the translation vector and orientation between the trackers were defined on the basis of the measurement results obtained. The measurements showed that the deviation of the translation vector did not significantly change as the measurement distance increased, but the deviation of orientation data between different trackers increased significantly. Deviation in the translation vector increased as the distance between trackers increased, but deviation in orientation did not change significantly.",
keywords = "MRI-compatible robot, optical tracking, quaternion",
author = "Petri Junttila and Kalervo Nevala and Petter Kroneld",
year = "2009",
doi = "10.4028/www.scientific.net/SSP.144.191",
language = "English",
isbn = "978-3-908451-60-0",
series = "Solid State Phenomena",
publisher = "Trans Tech Publications",
pages = "191--195",
editor = "Inga Skiedraite and Jolanta Baskutiene",
booktitle = "Mechatronic Systems and Materials II",

}

Junttila, P, Nevala, K & Kroneld, P 2009, Enhancing the Accuracy of MRI-Compatible Robots with an Optical Tracking System. in I Skiedraite & J Baskutiene (eds), Mechatronic Systems and Materials II. Solid State Phenomena, vol. 144, pp. 191-195. https://doi.org/10.4028/www.scientific.net/SSP.144.191

Enhancing the Accuracy of MRI-Compatible Robots with an Optical Tracking System. / Junttila, Petri; Nevala, Kalervo; Kroneld, Petter.

Mechatronic Systems and Materials II. ed. / Inga Skiedraite; Jolanta Baskutiene. 2009. p. 191-195 (Solid State Phenomena, Vol. 144).

Research output: Chapter in Book/Report/Conference proceedingChapter or book articleScientificpeer-review

TY - CHAP

T1 - Enhancing the Accuracy of MRI-Compatible Robots with an Optical Tracking System

AU - Junttila, Petri

AU - Nevala, Kalervo

AU - Kroneld, Petter

PY - 2009

Y1 - 2009

N2 - Magnetic resonance imaging (MRI) is currently a widely used technology for obtaining a three-dimensional image of a patient’s internal structures. This study examines the measurement properties of an optical tracking system utilised in the MRI room. The results were used to assess the suitability of the device to be used as a part of the control system of a surgical robot. The position and orientation of the instrument, MRI scanner and the patient are measured using an optical tracking system in the MRI room. The measurement data can be used to display the instrument used as a part of the image of the patient. The optical tracking system used in the MRI room can also be considered as a part of the control system of a robot located in the room. When considering such use, the operations of the measuring device in different measurement conditions must be known. In terms of robot control, it is important to know the deviation attributed to measurement when defining the translation vector and orientation between two trackers. Five measurement series were carried out using the measurement device to examine the deviation in the translation vector and orientation data between two trackers. The distance and position between the trackers were changed between the measurement series. During the measurement series, the measurement device was moved to different distances from the trackers and the translation vector and orientation between the trackers were defined on the basis of the measurement results obtained. The measurements showed that the deviation of the translation vector did not significantly change as the measurement distance increased, but the deviation of orientation data between different trackers increased significantly. Deviation in the translation vector increased as the distance between trackers increased, but deviation in orientation did not change significantly.

AB - Magnetic resonance imaging (MRI) is currently a widely used technology for obtaining a three-dimensional image of a patient’s internal structures. This study examines the measurement properties of an optical tracking system utilised in the MRI room. The results were used to assess the suitability of the device to be used as a part of the control system of a surgical robot. The position and orientation of the instrument, MRI scanner and the patient are measured using an optical tracking system in the MRI room. The measurement data can be used to display the instrument used as a part of the image of the patient. The optical tracking system used in the MRI room can also be considered as a part of the control system of a robot located in the room. When considering such use, the operations of the measuring device in different measurement conditions must be known. In terms of robot control, it is important to know the deviation attributed to measurement when defining the translation vector and orientation between two trackers. Five measurement series were carried out using the measurement device to examine the deviation in the translation vector and orientation data between two trackers. The distance and position between the trackers were changed between the measurement series. During the measurement series, the measurement device was moved to different distances from the trackers and the translation vector and orientation between the trackers were defined on the basis of the measurement results obtained. The measurements showed that the deviation of the translation vector did not significantly change as the measurement distance increased, but the deviation of orientation data between different trackers increased significantly. Deviation in the translation vector increased as the distance between trackers increased, but deviation in orientation did not change significantly.

KW - MRI-compatible robot

KW - optical tracking

KW - quaternion

U2 - 10.4028/www.scientific.net/SSP.144.191

DO - 10.4028/www.scientific.net/SSP.144.191

M3 - Chapter or book article

SN - 978-3-908451-60-0

T3 - Solid State Phenomena

SP - 191

EP - 195

BT - Mechatronic Systems and Materials II

A2 - Skiedraite, Inga

A2 - Baskutiene, Jolanta

ER -

Junttila P, Nevala K, Kroneld P. Enhancing the Accuracy of MRI-Compatible Robots with an Optical Tracking System. In Skiedraite I, Baskutiene J, editors, Mechatronic Systems and Materials II. 2009. p. 191-195. (Solid State Phenomena, Vol. 144). https://doi.org/10.4028/www.scientific.net/SSP.144.191