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Now showing items 11-20 of 28
Design of a parallel robot for needle-based interventions on small animals
(IEEE, 2013-02)
In this paper, a novel 5-degrees-of-freedom robot for performing needle-based interventions on small animal subjects is presented. The robot can realize dexterous alignment of the needle using two parallel mechanisms, and ...
Needle localization using gabor filtering in 2D ultrasound images
(IEEE, 2014)
In the percutaneous needle procedures using ultrasound (US) imaging, the needle should be detected precisely to avoid damage to the tissue and to get the samples from the appropriate site. Excessive artifacts and low ...
A personal navigation system using mems-based high-density ground reaction sensor array and inertial measurement unit
(IEEE, 2015)
This paper describes a prototype personal navigation system developed for position tracking under GPS denied environments by employing a commercial inertial measurement unit (IMU) and a MEMS-based ground reaction sensor ...
Gabor filter based localization of needles in ultrasound guided robotic interventions
(IEEE, 2014)
This paper presents an entropy based parameter tuning method for needle segmentation, and a probability map based needle tip estimation method using Gabor-based line filter. The proposed automatic parameter tuning method ...
Design and modeling of a parallel robot for ultrasound guided percutaneous needle interventions
(IEEE, 2015)
Necessity of precise positioning in percutaneous needle operations enables robotic systems to take part in medical procedures. Researches that have been done until today showed robotic systems increase the accuracy of ...
Development of an antagonistically actuated smart joint
(Trans Tech Publications, 2017)
Shape memory alloys with their phase transformation properties; have been broadly implemented in smart structures. In this study, a functional design is presented where two wires actuate antagonistically to achieve motion ...
Discrete-time integral sliding mode control of a smart joint for minimally invasive surgeries
(IEEE, 2016)
In this work, a shape memory alloy(SMA) actuator based joint (smart joint) is controlled using a discrete-time integral sliding mode (DISM) control to guide the motion of an active catheter. Controller is designed on the ...
Environmental force estimation for a robotic hand : compliant contact detection
(IEEE, 2015)
This paper presents a model based compensation method to enable environmental force estimation for a robotic hand with no tactile or force sensors. To this end, we utilize multi-joint robot dynamics and disturbance observer ...
Mars gezgini prototipi Merih-2
(Gazi Üniversitesi, 2018-12)
Merih-2, Özyeğin Üniversitesi Rover Takımı tarafından University Rover Challenge 2016 ve European Rover Challenge 2016’ya katılmak ve Mars koşullarında görev yapmak için tasarlanan gezgindir. Sürüş için Merih-2’nin 6 adet ...
Adaptive inverse kinematics of a 9-DOF surgical robot for effective manipulation
(IEEE, 2019)
In a robotic-assisted surgical system, fine and precise movement is essential. However, when the user wishes to cover a wider area during tele-operation, the configuration designed for precise motion may restrict the user ...
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