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

Özkan Bebek; Myun Joong Hwang; M. Cenk Çavuşoǧlu

doi:10.1109/TMECH.2011.2162427

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

Özkan Bebek, Myun Joong Hwang, M. Cenk Çavuşoǧlu

Department of Mechanical and Information Engineering

Research output: Contribution to journal › Article › peer-review

46 Scopus citations

Abstract

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.

Original language	English
Article number	5991962
Pages (from-to)	62-73
Number of pages	12
Journal	IEEE/ASME Transactions on Mechatronics
Volume	18
Issue number	1
DOIs	https://doi.org/10.1109/TMECH.2011.2162427
State	Published - 2013

Keywords

Calibration and identification
kinematics
medical robotics
needle insertion
parallel robots
robot-assisted biopsy

Access to Document

10.1109/TMECH.2011.2162427

Cite this

@article{21fa2d2a8e314fb1a1318280913f3895,

title = "Design of a parallel robot for needle-based interventions on small animals",

abstract = "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.",

keywords = "Calibration and identification, kinematics, medical robotics, needle insertion, parallel robots, robot-assisted biopsy",

author = "{\"O}zkan Bebek and Hwang, {Myun Joong} and {\c C}avu{\c s}oǧlu, {M. Cenk}",

year = "2013",

doi = "10.1109/TMECH.2011.2162427",

language = "English",

volume = "18",

pages = "62--73",

journal = "IEEE/ASME Transactions on Mechatronics",

issn = "1083-4435",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

number = "1",

}

TY - JOUR

T1 - Design of a parallel robot for needle-based interventions on small animals

AU - Bebek, Özkan

AU - Hwang, Myun Joong

AU - Çavuşoǧlu, M. Cenk

PY - 2013

Y1 - 2013

N2 - 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.

AB - 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.

KW - Calibration and identification

KW - kinematics

KW - medical robotics

KW - needle insertion

KW - parallel robots

KW - robot-assisted biopsy

UR - http://www.scopus.com/inward/record.url?scp=84866489400&partnerID=8YFLogxK

U2 - 10.1109/TMECH.2011.2162427

DO - 10.1109/TMECH.2011.2162427

M3 - Article

AN - SCOPUS:84866489400

SN - 1083-4435

VL - 18

SP - 62

EP - 73

JO - IEEE/ASME Transactions on Mechatronics

JF - IEEE/ASME Transactions on Mechatronics

IS - 1

M1 - 5991962

ER -

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

Abstract

Keywords

Access to Document

Other files and links

Fingerprint

Cite this