TY - GEN
T1 - Design and modeling of a parallel robot for ultrasound guided percutaneous needle interventions
AU - Orhan, Sabri Orcun
AU - Yildirim, Mehmet Can
AU - Bebek, Ozkan
N1 - Publisher Copyright:
© 2015 IEEE.
PY - 2015
Y1 - 2015
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84973138860&partnerID=8YFLogxK
U2 - 10.1109/IECON.2015.7392885
DO - 10.1109/IECON.2015.7392885
M3 - Conference contribution
AN - SCOPUS:84973138860
T3 - IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society
SP - 5002
EP - 5007
BT - IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 41st Annual Conference of the IEEE Industrial Electronics Society, IECON 2015
Y2 - 9 November 2015 through 12 November 2015
ER -