One of the main challenges in magnetic resonance imaging (MRI) guided interventions is for an instrument to access and track a respiration-induced moving target inside the patient. In this article, we present a mechatronic system that demonstrates such capability for one-dimensional motion in phantom experiments. Our system consists of real-time sensing by MRI acquisition, detection, and localization, MRI-conditional instrument actuation by remotely and hydrostatically actuated fluid actuators, and adaptive control algorithms for tracking real-time measured respiratory motions subject to the sensing and actuation dynamics and uncertainties. Model-based simulations are performed to analyze the tracking performance pertaining to system parameters such as sensing latency and image tracking error. Experimental results obtained from moving phantoms are presented to demonstrate the control system's tracking performance.

中文翻译：

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实时磁共振成像反馈对一维呼吸诱导运动目标的自适应跟踪控制

磁共振成像（MRI）指导的干预措施中的主要挑战之一是使器械能够接近并跟踪患者体内由呼吸引起的运动目标。在本文中，我们介绍了一种机电系统，该系统演示了幻像实验中一维运动的这种能力。我们的系统包括通过MRI采集，检测和定位进行实时感测，通过远程和流体静力学驱动的流体执行器进行MRI条件仪器致动，以及自适应控制算法，用于跟踪受感测和致动动力学影响的实时测量呼吸运动。不确定性。执行基于模型的仿真以分析与系统参数（例如感应延迟和图像跟踪错误）有关的跟踪性能。