Development and Evaluation of MRI-Compatible Sensors

Traditional sensors in robotics include force and positioning sensing. However, off-the-shelf sensors are not suiatable for use in MRI due to the potential for image degradation, malfunction, or safety issues. We are evaluating and developing sensors to be used in the MR environment. The current focus is on optical techniques for force and position sensing that do not compromise image quality and will allow for haptic feedback during MRI-guided interventions.

Light intensity modulated 3 DOF fiber optic force sensor

Intensity sensor.jpg

Phase intensity modulated miniaturized fiber optic force sensor utilizing Fabry-Perot Interferometry


Related Publications

  1. Shang W, Su H, Li G, Furlong C, Fischer GS , A Fabry-Perot Interferometry Based MRI-Compatible Miniature Uniaxial Force Sensor for Percutaneous Needle, IEEE SENSORS 2013, Baltimore, MD, Nov. 2013. IEEE, PDF
  2. Ma Y, Dobrev I, Shang W, Su H, Janga S, Fischer GS, CHIC: Cylindrical Helix Imaging Coordinate Registration Fiducial for MRI-Guided Interventions, 34th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), San Diego, USA, Aug. 2012. PubMed, IEEE, PDF
  3. Shang W, Fischer GS, A High Accuracy Multi-image Registration Method for Tracking MRI-guided robots, SPIE Medical Imaging, San Diego, USA, Feb. 2012. SPIE, PDF
  4. Su H, Zervas M, Cole GA, Furlong C, Fischer GS, Real-time MRI-Guided Needle Placement Robot with Integrated Fiber Optic Force Sensing, IEEE ICRA 2011 International Conference on Robotics and Automation, Shanghai, China, pp 1583-1588, May 2011. PDF, ICRA, BibTex, EndNote
  5. Su H, Zervas M, Furlong C, Fischer GS, A Miniature MRI-compatible Fiber-optic Force Sensor Utilizing Fabry-Perot Interferometer, SEM Annual Conference & Exposition on Experimental and Applied Mechanics, Uncasville, CT, USA, June 2011. SEM, PDF
  6. Su H, Fischer GS, A 3-Axis Optical Force/Torque Sensor for Prostate Needle Placement in Magnetic Resonance Imaging Environments, 2nd Annual IEEE International Conference on Technologies for Practical Robot Applications - TePRA 2009, Woburn, Massachusetts, November 2009. PDF, BibTex, EndNote