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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 ...
Gabor filter-based localization of straight and curved needles in 2D ultrasound images
(TÜBİTAK, 2020)
2D ultrasound (US) is one of the most commonly used medical imaging devices for needle localization in biopsies. However, the produced images are low-resolution and contain an excessive number of artifacts, which makes 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 ...
A soft+rigid hybrid exoskeleton concept in scissors-pendulum mode: A suit for human state sensing and an exoskeleton for assistance
(IEEE, 2019-06)
In this paper, we present a novel concept that can enable the human aware control of exoskeletons through the integration of a soft suit and a robotic exoskeleton. Unlike the state-of-the-art exoskeleton controllers which ...
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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