Özyeğin biopsy robot: system integration architecture and motion compensation of a moving target
dc.contributor.author | Ahmad, Mirza Awais | |
dc.contributor.author | Bebek, Özkan | |
dc.date.accessioned | 2019-03-29T06:20:44Z | |
dc.date.available | 2019-03-29T06:20:44Z | |
dc.date.issued | 2018-05-30 | |
dc.identifier.issn | 1300-0632 | en_US |
dc.identifier.uri | http://hdl.handle.net/10679/6242 | |
dc.identifier.uri | http://journals.tubitak.gov.tr/elektrik/index.php | |
dc.description.abstract | 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) imaging machine, two robotic manipulators, and a motion capturing system. Details of the real-time functionality of the robotic system components working with spatial and computational synchronization are presented. This paper also deals with a scenario in which the target tissue is moving due to the breathing of the patient. The motion of the needle tip and the target is tracked using US images as feedback. Two types of control laws for target tracking are discussed: traditional feedback control and an optimal control method. Motion compensation is demonstrated by tracking a moving target with the needle tip motion with an RMS error of 0.25 mm. | en_US |
dc.description.sponsorship | TÜBİTAK | |
dc.language.iso | eng | en_US |
dc.publisher | TÜBİTAK | en_US |
dc.relation | info:turkey/grantAgreement/TUBITAK/112E312 | |
dc.relation.ispartof | Turkish Journal Of Electrical Engineering And Computer Sciences | |
dc.rights | openAccess | |
dc.title | Özyeğin biopsy robot: system integration architecture and motion compensation of a moving target | en_US |
dc.type | Article | en_US |
dc.description.version | Publisher version | en_US |
dc.peerreviewed | yes | en_US |
dc.publicationstatus | Published | en_US |
dc.contributor.department | Özyeğin University | |
dc.contributor.authorID | (ORCID 0000-0003-2721-9777 & YÖK ID 43734) Bebek, Özkan | |
dc.contributor.ozuauthor | Bebek, Özkan | |
dc.identifier.volume | 26 | en_US |
dc.identifier.issue | 3 | en_US |
dc.identifier.startpage | 1651 | en_US |
dc.identifier.endpage | 1661 | en_US |
dc.identifier.wos | WOS:000434009500042 | |
dc.identifier.doi | 10.3906/elk-1701-193 | en_US |
dc.subject.keywords | Robotic biopsy | en_US |
dc.subject.keywords | Robotic system architecture | en_US |
dc.subject.keywords | Predictive control | en_US |
dc.identifier.scopus | SCOPUS:2-s2.0-85048230413 | |
dc.contributor.ozugradstudent | Ahmad, Mirza Awais | |
dc.relation.publicationcategory | Article - International Refereed Journal - Institutional Academic Staff and Graduate Student |
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