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Design and kinematics of a 5-DOF parallel robot for beating heart surgery
(IEEE, 2019)
In this paper, mechanical and electronics design of a lightweight 5-DOF robot, Ozyegin Surgery Robot I (OSI), and it's performance of tracking the heart motion for coronary artery bypass procedure (CABG) are presented. The ...
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 ...
Improving the safety of medical robotic systems
(IEEE, 2018-10-09)
The significance of the robots in the medical field have been increasing rapidly. Humans and robots working together increases the strengths and decreases the limitations of surgical operations. Human life makes safety the ...
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) ...
Visual tracking of multiple moving targets in 2D ultrasound guided robotic percutaneous interventions
(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 ...
Visual tracking of biopsy needles in 2D ultrasound images
(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 ...
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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