Author
Orhan, Sabri Orcun, Yildirim, Mehmet Can, Bebek, Özkan
Publication Date
2015
Publication Place
-
IEEE
Subject
Biomedical ultrasonics, Manipulators, Medical robotics, Torque control
Type
Document
Language
English
Digital
Yes
Manuscript
No
Library
Özyeğin University
Library Asset ID
978-147991762-4
Record ID
7ee13486-1e64-46f8-945c-a87c29080e02
Library Location
Mechanical Engineering
Date
2015
Notes
Due to copyright restrictions, the access to the full text of this article is only available via subscription.
Sample Text
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 medical interventions. This paper presents the design and modeling of a 5DOF parallel robot that will be used in Ultrasound image guided percutaneous needle interventions. In order to design the robot, workspace and torque analysis were conducted. System identification was performed on robot to understand the system dynamics. System calibration was performed with optical tracking system to increase the accuracy of the system. Gravity compensation and friction modeling were conducted on the robot. Using gravity compensation and friction models, a torque computed controller was implemented to system.
DOI
10.1109/IECON.2015.7392885
