Özyeğin biopsy robot: system integration architecture and motion compensation of a moving target

Name: Özyeğin biopsy robot: system integration architecture and motion compensation of a moving target
Author: Ahmad, Mirza Awais, Bebek, Özkan

İsim	Özyeğin biopsy robot: system integration architecture and motion compensation of a moving target
Yazar	Ahmad, Mirza Awais, Bebek, Özkan
Basım Tarihi:	2018-05-30
Basım Yeri	- TÜBİTAK
Konu	Robotic biopsy, Robotic system architecture, Predictive control
Tür	Süreli Yayın
Dil	İngilizce
Dijital	Evet
Yazma	Hayır
Kütüphane:	Özyeğin Üniversitesi
Demirbaş Numarası	1300-0632
Kayıt Numarası	06dfba94-ae6d-4a5e-b136-e869fd5f04b2
Lokasyon	Mechanical Engineering
Tarih	2018-05-30
Notlar	TÜBİTAK
Örnek Metin	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.
DOI	10.3906/elk-1701-193
Cilt	26

Kaynağa git Özyeğin Üniversitesi

Aramaya Dön

Özyeğin Üniversitesi

Kaynağa git

Özyeğin biopsy robot: system integration architecture and motion compensation of a moving target

Yazar Ahmad, Mirza Awais, Bebek, Özkan

Basım Tarihi 2018-05-30

Basım Yeri - TÜBİTAK

Konu Robotic biopsy, Robotic system architecture, Predictive control

Tür Süreli Yayın

Dil İngilizce

Dijital Evet

Yazma Hayır

Kütüphane Özyeğin Üniversitesi

Demirbaş Numarası 1300-0632

Kayıt Numarası 06dfba94-ae6d-4a5e-b136-e869fd5f04b2

Lokasyon Mechanical Engineering

Tarih 2018-05-30

Notlar TÜBİTAK

Örnek Metin 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.

DOI 10.3906/elk-1701-193

Cilt 26