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Design of a solenoid based prototype injector for evaluation of electromagnetic parameters
(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 ...
Visual needle tip tracking in 2D US guided robotic interventions
(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 ...
Adaptive inverse kinematics of a 9-DOF surgical robot for effective manipulation
(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 ...
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 ...
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