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Towards active tracking of beating heart motion in the presence of arrhythmia for robotic assisted beating heart surgery
(Plos, 2014-07-21)
In robotic assisted beating heart surgery, the control architecture for heart motion tracking has stringent requirements in terms of bandwidth of the motion that needs to be tracked. In order to achieve sufficient tracking ...
Özyeğin biopsy robot: system integration architecture and motion compensation of a moving target
(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) ...
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