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An integrated design approach for a series elastic actuator: Stiffness formulation, fatigue analysis, thermal management
(IEEE, 2017-12-22)
This paper presents an integrated mechanical design approach for the long-Term and repetitive use of series elastic actuators (SEAs). Already, computational models for series elastic actuator design have been developed in ...
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 ...
Development and 3D spatial calibration of a parallel robot for percutaneous needle procedures with 2D ultrasound guidance
(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 ...
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