Browsing Mechanical Engineering by Author "Ahmad, Mirza Awais"
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Development and 3D spatial calibration of a parallel robot for percutaneous needle procedures with 2D ultrasound guidance
Ahmad, Mirza Awais; Orhan, Sabri Orçun; Yıldırım, Mehmet Can; Bebek, Özkan (World Scientific, 2017-12-01)Robotic systems are being applied to medical interventions as they increase the operational accuracy. The proposed autonomous and ultrasound guided 5-DOF parallel robot can achieve such accuracy for needle biopsies, which ... -
Özyeğin biopsy robot: system integration architecture and motion compensation of a moving target
Ahmad, Mirza Awais; Bebek, Özkan (TÜBİTAK, 2018-05-30)This paper presents the complete system architecture of a robotic biopsy system for real-time operations. The system has individual functional blocks working simultaneously including a 5 DoF parallel robot, ultrasound (US) ... -
Real-time needle tip localization in 2D ultrasound images for robotic biopsies
Kaya, Mert; Şenel, Enes; Ahmad, Mirza Awais; Orhan, Orçun; Bebek, Özkan (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 ... -
Visual tracking of biopsy needles in 2D ultrasound images
Kaya, Mert; Şenel, Enes; Ahmad, Mirza Awais; Bebek, Özkan (2016)Ultrasound (US) is one the most commonly used medical imaging techniques in percutaneous needle procedures. However, US images are inherently noisy and contain excessive number of artifacts. Hence, it is not easy to track ... -
Visual tracking of multiple moving targets in 2D ultrasound guided robotic percutaneous interventions
Kaya, Mert; Şenel, Enes; Ahmad, Mirza Awais; Bebek, Özkan (IEEE, 2017)Percutaneous needle procedures are mostly carried out with the guidance of 2D ultrasound (US) imaging. US images are inherently noisy and their resolutions are low. Hence, target tracking can be challenging. Image based ...
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