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

Name: 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

İsim	Development and 3D spatial calibration of a parallel robot for percutaneous needle procedures with 2D ultrasound guidance
Yazar	Ahmad, Mirza Awais, Orhan, Sabri Orçun, Yıldırım, Mehmet Can, Bebek, Özkan
Basım Tarihi:	2017-12-01
Basım Yeri	- World Scientific
Konu	Biopsy robot, Calibration, Freehand intraoperative ultrasound, Torque computed control, Ultrasound imaging
Tür	Süreli Yayın
Dil	İngilizce
Dijital	Evet
Yazma	Hayır
Kütüphane:	Özyeğin Üniversitesi
Demirbaş Numarası	2424-9068
Kayıt Numarası	574c0964-edbe-4410-9044-bd7604827ccf
Lokasyon	Mechanical Engineering
Tarih	2017-12-01
Örnek Metin	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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Development and 3D spatial calibration of a parallel robot for percutaneous needle procedures with 2D ultrasound guidance

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

Basım Tarihi 2017-12-01

Basım Yeri - World Scientific

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

Tür Süreli Yayın

Dil İngilizce

Dijital Evet

Yazma Hayır

Kütüphane Özyeğin Üniversitesi

Demirbaş Numarası 2424-9068

Kayıt Numarası 574c0964-edbe-4410-9044-bd7604827ccf

Lokasyon Mechanical Engineering

Tarih 2017-12-01

Örnek Metin 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