Development and 3D Spatial Calibration of a Parallel Robot for Percutaneous Needle Procedures with 2D Ultrasound Guidance

Awais Ahmad, S. Orcun Orhan, Mehmet C. Yildirim, Ozkan Bebek

Research output: Contribution to journalArticlepeer-review

3 Scopus citations

Abstract

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.

Original languageEnglish
Article number1750007
JournalJournal of Medical Robotics Research
Volume2
Issue number4
DOIs
StatePublished - 1 Dec 2017
Externally publishedYes

Keywords

  • Biopsy robot
  • calibration
  • freehand intraoperative ultrasound
  • torque computed control
  • ultrasound imaging

Fingerprint

Dive into the research topics of 'Development and 3D Spatial Calibration of a Parallel Robot for Percutaneous Needle Procedures with 2D Ultrasound Guidance'. Together they form a unique fingerprint.

Cite this