Browsing by Author "Bebek, Özkan"
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An active brace for controlled transdermal drug delivery for adjustable physical therapy
Erol, Levent; Bebek, Özkan; Karagöz, Ayşe; Başım, Gül Bahar (IEEE, 2014)This study presents an active brace which is a cost efficient precision-controlled advanced therapy medicinal product for time and rate controlled transdermal drug delivery (TDD) through the use of drug containing nanoparticles ... -
Adaptive inverse kinematics of a 9-DOF surgical robot for effective manipulation
Sunal, Begüm; Öztop, Erhan; Bebek, Özkan (IEEE, 2019)In a robotic-assisted surgical system, fine and precise movement is essential. However, when the user wishes to cover a wider area during tele-operation, the configuration designed for precise motion may restrict the user ... -
Adaptive shared control with human intention estimation for human agent collaboration
Amirshirzad, Negin; Uğur, E.; Bebek, Özkan; Öztop, Erhan (IEEE, 2022)In this paper an adaptive shared control frame-work for human agent collaboration is introduced. In this framework the agent predicts the human intention with a confidence factor that also serves as the control blending ... -
Calibration of 2D ultrasound in 3D space for robotic biopsies
Ahmad, A.; Çavuşoğlu, M. C.; Bebek, Özkan (IEEE, 2015)Freehand Ultrasound technique is widely used in intraoperative biopsy procedures for detecting the volumes of interest. Freehand ultrasound probe is faster and flexible with 6 degrees of freedom. Thats why the imaging ... -
A comparative evaluation of sepiolite and nano-montmorillonite on the rheology of cementitious materials for 3D printing
Aydın, Eylül Mina; Kara, Ahmet Burhan; Bundur, Zeynep Başaran; Özyurt, N.; Bebek, Özkan; Gulgun, M. A. (Elsevier, 2022-10-03)Through the last decade, methods of digital manufacturing of concrete gained a significant interest compared to conventional concrete. The main challenge in additive manufacturing (3D printing) is to design a highly ... -
Contact force distribution using centroidal momentum feedback for quadruped locomotion
Özçınar, Erim Can; Bebek, Özkan; Uğurlu, Regaip Barkan (IEEE, 2023)This paper proposes a method to distribute contact forces to eliminate undesired torso orientation fluctuations and regulate heading during dynamic quadruped trot-walking motion. The proposed method makes use of centroidal ... -
A custom brace design to connect a user limb to an exoskeleton link with minimal discomfort
Çevik, Süleyman Can; Derman, Mustafa; Ünal, Ramazan; Uğurlu, Regaip Barkan; Bebek, Özkan (IEEE, 2021)Exoskeletons are increasingly helping people with different applications. Regardless of what they were built for, exoskeletons have a common discomfort problem from the misalignment of robot and human joints. In this paper, ... -
Design and development of torsion spring based series elastic actuator with nested encoders for wearable exoskeleton robot
his thesis proposes a series elastic actuator design to power an assistive exoskele ton for the paraplegic or stroke patient whom incapable to walk or provide any motion at lower extremity portion of the body. Commonly, ... -
Design and implementation of a robust control scheme for a smart joint
Jabeen, Saher (2017-01)The invention of biomedical tools has made medical treatments more convenient; however, manual insertion of these tools requires years of practice and erroneous insertion into the body may cause ruptures and bleeding. ... -
Design and kinematics of a 5-DOF parallel robot for beating heart surgery
Ersoy, Onur; Yıldırım, Mehmet Can; Ahmad, A.; Yirmibesoglu, O. D.; Koroglu, N.; Bebek, Özkan (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 ... -
Design and modeling of a parallel robot for ultrasound guided percutaneous needle interventions
Orhan, Sabri Orcun; Yildirim, Mehmet Can; Bebek, Özkan (IEEE, 2015)Necessity of precise positioning in percutaneous needle operations enables robotic systems to take part in medical procedures. Researches that have been done until today showed robotic systems increase the accuracy of ... -
Design and modeling of a parallel robot for ultrasound guided percutaneous needle interventions
Orhan, Sabri Orçun (2015-08)Percutaneous needle operations need precise positioning in order to collect samples for diagnosis. Due to their robustness, accuracy robotic systems started to take place in medical procedures. Research that have been done ... -
Design of a parallel robot for needle-based interventions on small animals
Bebek, Özkan; Hwang, M. J.; Çavuşoğlu, M. C. (IEEE, 2013-02)In this paper, a novel 5-degrees-of-freedom robot for performing needle-based interventions on small animal subjects is presented. The robot can realize dexterous alignment of the needle using two parallel mechanisms, and ... -
Design of a solenoid based prototype injector for evaluation of electromagnetic parameters
Yağcı, Ayhan; Quresh, Muhammad Sarmad; Kuntuz, Mehmet Polat; Bebek, Özkan (IEEE, 2019)Injector is a pump and valve mechanism, that sprays liquid intermittently to intended volume. In this research, evaluation of the electromagnetic properties of a solenoid actuator used in the prototype injector systems has ... -
Development and control of a parallel endoscopic surgical robot platform for beating heart procedures
Ersoy, Onur (2021-06-16)Minimally Invasive Robotic Surgery focuses on performing surgeries using advanced robotic tools through small incisions. Taking advantage of these advanced tools and control methods, challenging surgeries such as ... -
Development of 3-D chemical mechanical polishing process for nanostructuring of bioimplant surfaces
Özdemir, Zeynep; Orhan, Orçun; Bebek, Özkan; Başım, Gül Bahar (ECS, 2014)This study focuses on the development of a three dimensional chemical mechanical polishing (CMP) process to induce smoothness or controlled nano-roughness on the bio-implant material surfaces, particularly for an application ... -
Development of a torque-controllable upper limb exoskeleton for industrial applications
Chronic upper body pain and injuries are undesirable physical disorders that result from regular exposure to external forces that strain the musculoskeletal system. These symptoms reduce both the quality of life and ... -
Development of an antagonistically actuated smart joint
Vahidyeganeh, Ali; Şimsek, Görkem Muttalip; Jabeen, Saher; Bebek, Özkan; Yapıcı, Güney Güven (Trans Tech Publications, 2017)Shape memory alloys with their phase transformation properties; have been broadly implemented in smart structures. In this study, a functional design is presented where two wires actuate antagonistically to achieve motion ... -
Development of antagonistically actuated active joints with shape memory aloys
Vahidyeganeh, Ali (2017-01)The focus of this research work is the development of an active joint antagonistically actuated by shape memory alloys (SMA). Due to their high force to mass ratio these identified as excellent actuator candidates for ... -
Development of the calibration scheme and system integration of the Ozyegin biopsy robot (OBR)
Ahmad, Mirza Awais (2016-08)Imaging systems can fail to visualize cancerous tissues for proper diagnosis. Needle based procedures, like biopsies, increase the chances of accurate diagnosis of tumors. These procedures also have applications in minimally ...
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