Differential Image Based Robot to MRI Scanner Registration with Active Fiducial Markers for an MRI-Guided Robotic Catheter System

Abstract

In magnetic resonance imaging (MRI) guided robotic catheter ablation procedures, reliable tracking of the catheter within the MRI scanner is needed to safely navigate the catheter. This requires accurate registration of the catheter to the scanner. This paper presents a differential, multi-slice image-based registration approach utilizing active fiducial coils. The proposed method would be used to preoperatively register the MRI image space with the physical catheter space. In the proposed scheme, the registration is performed with the help of a registration frame, which has

MRI Distortion Correction and Robot-to-MRI Scanner Registration for an MRI-Guided Robotic System

“…The differential image based registration algorithm was originally presented in [37], where the geometric distortion in the MR images was not considered. In order to use this registration approach jointly with real-time high speed MRI image acquisition and reconstruction methods [33] in realtime interventional procedures, this study extends the work in [37] and investigates the effects of the geometric distortion in robot to scanner registration through distortion analysis with additional validation experiments.…”