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Calibration of 2D ultrasound in 3D space for robotic biopsies
(IEEE, 2015)
Freehand Ultrasound technique is widely used in intraoperative biopsy procedures for detecting the volumes of interest. Freehand ultrasound probe is faster and flexible with 6 degrees of freedom. Thats why the imaging ...
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 ...
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 ...
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 ...
Real-time needle tip localization in 2D ultrasound images for robotic biopsies
(IEEE, 2015)
In this paper, real-time needle tip tracking method using 2D ultrasound (US) images for robotic biopsies is presented. In this method, the needle tip is estimated with the Gabor filter based image processing algorithm, and ...
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