An Error Correction Method for MRI-HIFU Robot Based on Dynamic Optical Tracking System.

This paper introduces a method of measuring and correcting errors in Magnetic Resonance Imaging (MRI) compatible robot with unmeasurable physical properties inside. Dynamic optical tracking system (DOTS) is used to track markers on the robot actuators, and the discrepancy between the measured and theoretical position is compensated using the proposed method. With a hypothetical inter-axis error range of $[ 0.05 ^{\circ} , 0.50 ^{\circ}]$, a maximum positional error of $3.81 \pm 0.95$ mm is obtained from the simulation. An improvement in positioning accuracy from $2.44 \pm 0.84$ mm to $0.33 \pm 0.19$ mm is achieved from the experiments. This paper also discusses future works that could potentially improve the result and experimental workflow.