Design of a Parallel Robot for Needle-Based Interventions on Small Animals

Bebek, Özkan; Hwang, Myun Joong; Çavuşoğlu, M. Cenk

doi:10.1109/tmech.2011.2162427

Cited by 44 publications

(20 citation statements)

References 23 publications

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“…The six-axis F/T sensor (Nano-17, ATI Industrial Automation, Garner, NC, USA) is mounted on the handle of the needle to measure the instantaneous force and torque across the six axes ( Fx , Fy , Fz , Tx , Ty , and Tz ) that were felt by the physicians during the needle insertion. An ATI Nano-17 force sensor has full-scale force (z axis) of 35 N, force resolution of 1/160 N, full-scale torque of 250 mNm, and torque resolution of 1/32 mNm 24 . In this study, Tz was measured in the center-axis direction of the rotational motion (Fig.…”

Section: Methodsmentioning

confidence: 99%

Quantification of the parameters of twisting–rotating acupuncture manipulation using a needle force measurement system

Han

Kim

et al. 2015

Integrative Medicine Research

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BackgroundTo date, much research has been conducted to measure needle manipulation quantitatively and objectively. This study was performed to quantitatively measure the differences in the amount of stimulation caused by various rotation frequencies and angles in twisting–rotating acupuncture needle manipulation.MethodsThe torque Z force exerted on a tissue was measured at various rotation frequencies and angles by rotating a needle with a needle force measurement system attached to a needle insertion tissue model.ResultsThe results show that with rotation frequency at 60°, the torque Z force increased significantly from 0.023 N mm to 0.118 N mm as the rotation angle increased (p < 0.05). In addition, the torque Z force was significantly increased from 0.082 N mm to 0.292 N mm when the rotation angle increased from 60° to 180° at 0.15 Hz. (p < 0.05). A strong linear positive relationship between the torque Z force and rotation angle or frequency was obtained [Pearson correlation coefficient (r) > 0.88; p < 0.001].ConclusionThe change in needle–tissue interaction force by rotating angles showed a tendency to be higher than those by rotation frequency. Further quantitative research on various manipulations will be required for a standardized education on manipulation and stimulation as well as on needle model development to become possible.

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Section: Methodsmentioning

confidence: 99%

Quantification of the parameters of twisting–rotating acupuncture manipulation using a needle force measurement system

Han

Kim

et al. 2015

Integrative Medicine Research

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“…Custom robotic systems have been developed for specific tissues like brain [1], breast [2], kidney [3], lung [4], and prostate [5]. In addition to these, there are systems developed for small animals [6][7][8][9] for medical studies. The common design purpose of these systems is to reduce physician error and fatigue and to get the required accuracy and reliability in the process.…”

Section: Introductionmentioning

confidence: 99%

Ozyegin Biopsy Robot: System integration architecture and motion compensation of a moving target

Ahmad¹,

Bebek²

2018

Turk J Elec Eng & Comp Sci

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This paper presents the complete system architecture of a robotic biopsy system for real-time operations.The system has individual functional blocks working simultaneously including a 5 DoF parallel robot, ultrasound (US) imaging machine, two robotic manipulators, and a motion capturing system. Details of the real-time functionality of the robotic system components working with spatial and computational synchronization are presented. This paper also deals with a scenario in which the target tissue is moving due to the breathing of the patient. The motion of the needle tip and the target is tracked using US images as feedback. Two types of control laws for target tracking are discussed:traditional feedback control and an optimal control method. Motion compensation is demonstrated by tracking a moving target with the needle tip motion with an RMS error of 0.25 mm.

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“…Earlier preclinical injection machines access larger targets, such as tumors [14], [15], or perform abdominal blood collection [16]. To access a target as small as the venous system of a small animal, a more maneuverable insertion robot with more degrees of freedom was developed to provide dexterous alignment and needle placement [17]. A semiautomated vascular access system (VAS) has been developed to provide visual vein detection information to the operator with motorized needle operation [18].…”

Section: Introductionmentioning

confidence: 99%

An Automated Mouse Tail Vascular Access System by Vision and Pressure Feedback

Chang

Berry-Pusey

Yasin

et al. 2015

IEEE/ASME Trans. Mechatron.

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This paper develops an automated vascular access system (A-VAS) with novel vision-based vein and needle detection methods and real-time pressure feedback for murine drug delivery. Mouse tail vein injection is a routine but critical step for preclinical imaging applications. Due to the small vein diameter and external disturbances such as tail hair, pigmentation, and scales, identifying vein location is difficult and manual injections usually result in poor repeatability. To improve the injection accuracy, consistency, safety, and processing time, A-VAS was developed to overcome difficulties in vein detection noise rejection, robustness in needle tracking, and visual servoing integration with the mechatronics system.

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Design of a Parallel Robot for Needle-Based Interventions on Small Animals

Cited by 44 publications

References 23 publications

Quantification of the parameters of twisting–rotating acupuncture manipulation using a needle force measurement system

Quantification of the parameters of twisting–rotating acupuncture manipulation using a needle force measurement system

Ozyegin Biopsy Robot: System integration architecture and motion compensation of a moving target

An Automated Mouse Tail Vascular Access System by Vision and Pressure Feedback

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