In intraoperative image guided surgery, the surgeon’s view is enhanced by augmenting standard camera views with advanced medical images. Such images assist in the execution and evaluation of the surgery. To enhance this process, Cybernet is exploring use of a cable drive to convert the rotational motion of a DC motor external to the MRI magnetic field to the precise motion of an actuated axle mechanism inside the MRI, using friction model-based control techniques to overcome hysteresis effects, and using feed-forward model-based control techniques to maintain performance in the presence of cable stretch.




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