Browsing Faculty of Engineering by OzU Authors "Bebek, Özkan"
Now showing items 1-20 of 28
-
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 ... -
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 ... -
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 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 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 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 ... -
Discrete-time integral sliding mode control of a smart joint for minimally invasive surgeries
Jabeen, Saher; Yeganeh, Ali Vahid; Şimsek, Görkem Muttalip; Yapıcı, Güney Güven; Abidi, K.; Bebek, Özkan (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 ... -
Environmental force estimation for a robotic hand : compliant contact detection
Kaya, Osman; Yıldırım, Mehmet Can; Kuzuluk, Nisan; Çiçek, Emre; Bebek, Özkan; Öztop, Erhan; Uğurlu, Regaip Barkan (IEEE, 2015)This paper presents a model based compensation method to enable environmental force estimation for a robotic hand with no tactile or force sensors. To this end, we utilize multi-joint robot dynamics and disturbance observer ... -
Gabor filter based localization of needles in ultrasound guided robotic interventions
Kaya, Mert; Bebek, Özkan (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 ... -
Gabor filter-based localization of straight and curved needles in 2D ultrasound images
Kaya, M.; Senel, E.; Bebek, Özkan (TÜBİTAK, 2020)2D ultrasound (US) is one of the most commonly used medical imaging devices for needle localization in biopsies. However, the produced images are low-resolution and contain an excessive number of artifacts, which makes the ... -
Heart motion prediction based on adaptive estimation algorithms for robotic assisted beating heart surgery
Tuna, E. E.; Franke, T. J.; Bebek, Özkan; Shiose, A.; Fukamachi, K.; Çavuşoğlu, M. C. (IEEE, 2013)Robotic-assisted beating heart surgery aims to allow surgeons to operate on a beating heart without stabilizers as if the heart is stationary. The robot actively cancels heart motion by closely following a point of interest ... -
Improving the safety of medical robotic systems
Dibekçi, Ayşan; Bebek, Özkan (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 ... -
Mars gezgini prototipi Merih-2
Balcı, Barış; Yıldırım, Mehmet Can; Bebek, Özkan (DergiPark, 2018-12)Merih-2, Özyeğin Üniversitesi Rover Takımı tarafından University Rover Challenge 2016 ve European Rover Challenge 2016’ya katılmak ve Mars koşullarında görev yapmak için tasarlanan gezgindir. Sürüş için Merih-2’nin 6 adet ... -
Needle localization using gabor filtering in 2D ultrasound images
Kaya, Mert; Bebek, Özkan (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 ... -
Özyeğin biopsy robot: system integration architecture and motion compensation of a moving target
Ahmad, Awais; Bebek, Özkan (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) ... -
Personal inertial navigation system assisted by mems ground reaction sensor array and interface ASIC for GPS-denied environment
Guo, Q.; Deng, W. H.; Bebek, Özkan; Cavusoglu, M. C.; Mastrangelo, C. H.; Young, D. J. (IEEE, 2018-11)A personal inertial navigation system (PINS) assisted by a microelectromechanical systems (MEMS)-based 13 × 26 ground reaction sensor array (GRSA) and a low-power interface application-specified integrated circuit (ASIC) ... -
Personal inertial navigation system employing MEMS wearable ground reaction sensor array and interface ASIC achieving a position accuracy of 5.5m over 3km walking distance without GPS
Guo, Q.; Deng, W.; Bebek, Özkan; Çavusoglu, C.; Mastrangelo, C.; Young, D. (IEEE, 2018)An accurate personal inertial navigation system under GPS-denied environment is highly critical for demanding applications such as firefighting, rescue missions, and military operations. Location-aware computation for ...
Share this page
