Browsing Faculty of Engineering by Author "Ahmad, A."

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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 ...
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 ...
Visual needle tip tracking in 2D US guided robotic interventions

Kaya, M.; Şenel, E.; Ahmad, A.; Bebek, Özkan (Elsevier, 2019-02)

Percutaneous needle procedures are among the most frequently performed minimally invasive surgical procedure. For tracking the needle tip in the tissue, 2D ultrasound (US) imaging is commonly used; however, the low resolution ...