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Development and 3D spatial calibration of a parallel robot for percutaneous needle procedures with 2D ultrasound guidance

Title	Development and 3D spatial calibration of a parallel robot for percutaneous needle procedures with 2D ultrasound guidance
Author	Ahmad, Mirza Awais, Orhan, Sabri Orçun, Yıldırım, Mehmet Can, Bebek, Özkan
Publication Date:	2017-12-01
Publication Place	- World Scientific
Subject	Biopsy robot, Calibration, Freehand intraoperative ultrasound, Torque computed control, Ultrasound imaging
Type	Periodical
Language	English
Digital	Yes
Manuscript	No
Library:	Özyeğin University
Library Asset ID	2424-9068
Record ID	574c0964-edbe-4410-9044-bd7604827ccf
Library Location	Mechanical Engineering
Date	2017-12-01
Sample Text	Robotic systems are being applied to medical interventions as they increase the operational accuracy. The proposed autonomous and ultrasound guided 5-DOF parallel robot can achieve such accuracy for needle biopsies, which particularly demand precise needle positioning and insertion. In this paper, the robot's mechanical design, system identifications, and the design of its controller are explained. A torque computed controller with gravity compensation and friction models, yielding a 0.678mm RMS position error for the needle tip, was used. A novel method was used for 3D space calibration of the images for detecting the volume of interest in the biopsy procedure by a multipoint crosswire phantom with parallel threads. The calibration technique had a validation RMS error of 0.03mm.
DOI	10.1142/S2424905X17500076
Cilt	2

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Özyeğin University

Development and 3D spatial calibration of a parallel robot for percutaneous needle procedures with 2D ultrasound guidance

Author Ahmad, Mirza Awais, Orhan, Sabri Orçun, Yıldırım, Mehmet Can, Bebek, Özkan

Publication Date 2017-12-01

Publication Place - World Scientific

Subject Biopsy robot, Calibration, Freehand intraoperative ultrasound, Torque computed control, Ultrasound imaging

Type Periodical

Language English

Digital Yes

Manuscript No

Library Özyeğin University

Library Asset ID 2424-9068

Record ID 574c0964-edbe-4410-9044-bd7604827ccf

Library Location Mechanical Engineering

Date 2017-12-01

Sample Text Robotic systems are being applied to medical interventions as they increase the operational accuracy. The proposed autonomous and ultrasound guided 5-DOF parallel robot can achieve such accuracy for needle biopsies, which particularly demand precise needle positioning and insertion. In this paper, the robot's mechanical design, system identifications, and the design of its controller are explained. A torque computed controller with gravity compensation and friction models, yielding a 0.678mm RMS position error for the needle tip, was used. A novel method was used for 3D space calibration of the images for detecting the volume of interest in the biopsy procedure by a multipoint crosswire phantom with parallel threads. The calibration technique had a validation RMS error of 0.03mm.

DOI 10.1142/S2424905X17500076

Cilt 2