Design of a parallel robot for needle-based interventions on small animals

Name: Design of a parallel robot for needle-based interventions on small animals
Author: Bebek, Özkan, Hwang, M. J., Çavuşoğlu, M. C.

İsim	Design of a parallel robot for needle-based interventions on small animals
Yazar	Bebek, Özkan, Hwang, M. J., Çavuşoğlu, M. C.
Basım Tarihi:	2013-02
Basım Yeri	- IEEE
Konu	Calibration and identification, Kinematics, Medical robotics, Needle insertion, Parallel robots, Robot-assisted biopsy
Tür	Süreli Yayın
Dil	İngilizce
Dijital	Evet
Yazma	Hayır
Kütüphane:	Özyeğin Üniversitesi
Demirbaş Numarası	1083-4435
Kayıt Numarası	48bd4051-e867-456f-9cb9-e63a21f41ecf
Lokasyon	Mechanical Engineering
Tarih	2013-02
Notlar	Due to copyright restrictions, the access to the full text of this article is only available via subscription.
Örnek Metin	In this paper, a novel 5-degrees-of-freedom robot for performing needle-based interventions on small animal subjects is presented. The robot can realize dexterous alignment of the needle using two parallel mechanisms, and has a syringe mechanism to insert needles to subjects. Operations on small animals require high accuracy positioning during needle insertion. The kinematic calibration procedure of the robot using an optical tracker as an external sensor is presented to enhance accuracy of the system. After the kinematic calibration, the positioning accuracy of the needle tip is measured as 0.4 mm RMS. The robot design is light weight, and has a motion bandwidth of 4 Hz. The robot can track reference trajectories with a closed-loop controller.
DOI	10.1109/TMECH.2011.2162427
Cilt	18

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Design of a parallel robot for needle-based interventions on small animals

Yazar Bebek, Özkan, Hwang, M. J., Çavuşoğlu, M. C.

Basım Tarihi 2013-02

Basım Yeri - IEEE

Konu Calibration and identification, Kinematics, Medical robotics, Needle insertion, Parallel robots, Robot-assisted biopsy

Tür Süreli Yayın

Dil İngilizce

Dijital Evet

Yazma Hayır

Kütüphane Özyeğin Üniversitesi

Demirbaş Numarası 1083-4435

Kayıt Numarası 48bd4051-e867-456f-9cb9-e63a21f41ecf

Lokasyon Mechanical Engineering

Tarih 2013-02

Notlar Due to copyright restrictions, the access to the full text of this article is only available via subscription.

Örnek Metin In this paper, a novel 5-degrees-of-freedom robot for performing needle-based interventions on small animal subjects is presented. The robot can realize dexterous alignment of the needle using two parallel mechanisms, and has a syringe mechanism to insert needles to subjects. Operations on small animals require high accuracy positioning during needle insertion. The kinematic calibration procedure of the robot using an optical tracker as an external sensor is presented to enhance accuracy of the system. After the kinematic calibration, the positioning accuracy of the needle tip is measured as 0.4 mm RMS. The robot design is light weight, and has a motion bandwidth of 4 Hz. The robot can track reference trajectories with a closed-loop controller.

DOI 10.1109/TMECH.2011.2162427

Cilt 18