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Now showing items 11-20 of 37
Needle localization using gabor filtering in 2D ultrasound images
(IEEE, 2014)
In the percutaneous needle procedures using ultrasound (US) imaging, the needle should be detected precisely to avoid damage to the tissue and to get the samples from the appropriate site. Excessive artifacts and low ...
A personal navigation system using mems-based high-density ground reaction sensor array and inertial measurement unit
(IEEE, 2015)
This paper describes a prototype personal navigation system developed for position tracking under GPS denied environments by employing a commercial inertial measurement unit (IMU) and a MEMS-based ground reaction sensor ...
Gabor filter based localization of needles in ultrasound guided robotic interventions
(IEEE, 2014)
This paper presents an entropy based parameter tuning method for needle segmentation, and a probability map based needle tip estimation method using Gabor-based line filter. The proposed automatic parameter tuning method ...
Design and modeling of a parallel robot for ultrasound guided percutaneous needle interventions
(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 ...
Development of an antagonistically actuated smart joint
(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 ...
Discrete-time integral sliding mode control of a smart joint for minimally invasive surgeries
(IEEE, 2016)
In this work, a shape memory alloy(SMA) actuator based joint (smart joint) is controlled using a discrete-time integral sliding mode (DISM) control to guide the motion of an active catheter. Controller is designed on the ...
A custom brace design to connect a user limb to an exoskeleton link with minimal discomfort
(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, ...
Fast and efficient terrain-aware motion planning for exploration rovers
(IEEE, 2021)
This paper presents a fast, energy-efficient, and low computational cost traversal solution on sloped terrain. The use of grid-based search algorithms requires high computational power and takes a long time because almost ...
Learning medical suturing primitives for autonomous suturing
(IEEE, 2021)
This paper focuses on a learning from demonstration approach for autonomous medical suturing. A conditional neural network is used to learn and generate suturing primitives trajectories which were conditioned on desired ...
A comparative evaluation of sepiolite and nano-montmorillonite on the rheology of cementitious materials for 3D printing
(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 ...
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