Utilization of low cost motion capture cameras for virtual navigation Procedures: Performance evaluation for surgical navigation

Uslu, Tuğrul; Gezgin, Erkin; Özbek, Seda; Güzin, Didem; Can, Fatih Cemal; Çetín, Levent

doi:10.1016/j.measurement.2021.109624

Cited by 9 publications

(4 citation statements)

References 17 publications

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“…Prior to the experiments, in order to find relationship between motion capture setup measurement reference (C) frame with manipulator reference frame (M) by calculating transformation matrix M C T [22,23], small reference landmark markers (Fig. 22) were designed, manufactured, and attached to the manipulator with precisely known landmark positions M ρ i (i = 1, .…”

Section: Figure 26 Centroids Of the Two Data Setsmentioning

confidence: 99%

“…Following the camera calibration and the registration procedure given in detail in ref. [22][23], measurements from landmark positions were captured by using calibrated stylus with attached IR reflectors (Fig. 23).…”

Section: Figure 26 Centroids Of the Two Data Setsmentioning

confidence: 99%

“…. , 8) transformation matrix M C T was calculated with an RMS error of 0.587 mm [22][23]. In order to compare desired end effector trajectory (Fig.…”

Section: Figure 26 Centroids Of the Two Data Setsmentioning

confidence: 99%

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Development of a spherical parallel manipulator for brain surgery applications: preliminary study on the dynamic analysis and verification

Güzin

Gezgin

2022

Robotica

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This study focuses on development, task planning, and dynamic analysis of a previously proposed spherical parallel robot manipulator that is conceptually enhanced to adapt various brain surgery scenarios. Conceptual design of the proposed manipulator was briefly introduced and explained. In order to simulate one of the possible surgery scenarios, a case study of craniotomy was designed along with its trajectory planning. Dynamic analysis of proposed manipulator was performed by Lagrange method, and required actuator torque values were calculated for the desired trajectory. At the end of the study, hardware verification was carried out on the manufactured prototype of the system by comparing both calculated/acquired torque values and desired/actual trajectories. Promising verification results in terms of system dynamics and trajectory execution were introduced.

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Section: Figure 26 Centroids Of the Two Data Setsmentioning

confidence: 99%

Section: Figure 26 Centroids Of the Two Data Setsmentioning

confidence: 99%

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Development of a spherical parallel manipulator for brain surgery applications: preliminary study on the dynamic analysis and verification

Güzin

Gezgin

2022

Robotica

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“…Jiménez-Martín et al [4] studied the influence of three different modalities Tai Chi Chuan to people body of clinical cases and found that most common forms used in the research design associated with TCC correspond to those linked to the sports modality of this activity, while the forms associated with the therapeutic modality are scarcely present. Domestic and foreign relevant scholars [5][6][7][8][9][10]…”

Section: Introductionmentioning

confidence: 99%

Application of Fine Motion Capture Method for Tai Chi Chuan Assistant Training

2022

Journal of Sensors

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Tai Chi Chuan is an important part of Chinese wushu and is the product of the Chinese civilization; it contains abundant philosophy sense. Tai Chi Chuan has experienced a long historical process of development; in the process of development and change numerous for brief, to the rough, now widely process of Tai Chi Chuan for its style is easy to learn and has a strong role of strengthening the body while widely popular among the people of all ages. The existing Tai Chi Chuan training methods have not satisfied people’s pursuit of spiritual life that has more and more high request, therefore urgently needs to study new and efficient Tai Chi Chuan training method. In this paper, the characteristics and development history of the Tai Chi Chuan development were analyzed. In order to overcome difficulties in training, at present, the research on application of AI technology with fine motion capture method auxiliary taijiquan training is aimed at, which can further improve the social mass to understand Tai Chi Chuan, and guide people to exercise more scientifically, improve the body quality, training effect, and enrich the spiritual and cultural life.

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On the design of a macro‐micro parallel manipulator for cochlear microrobot operations

Gezgin,

Yaşar,

Uslu

et al. 2024

Robotics Computer Surgery

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BackgroundThe method of stem cell transfer to narrow cochlear canals in vivo to generate hair cells is still an unclear operation. Thus, the development of any possible method that will ensure the usage of medical microrobots in small cochlear workspaces is a challenging procedure.MethodsThe current study tries to introduce a macro‐micro manipulator system composed of a 6‐DoF industrial serial manipulator as a macro manipulator and a proposed 5‐DoF parallel manipulator with dual end effectors as a micro manipulator carrying permanent magnets for tetherless microrobot actuation inside the cochlea.ResultsThroughout the study, structural synthesis and kinematic analysis of the proposed micro manipulator were introduced. A prototype of the manipulator was manufactured and its hardware verification procedures were carried out using motion capture cameras and surgical navigation registration methodologies.ConclusionsFollowing motion training, the assembled macro‐micro manipulator was successfully utilised to actuate a microrobot placed inside a manufactured cochlea mockup model.

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Utilization of low cost motion capture cameras for virtual navigation Procedures: Performance evaluation for surgical navigation

Cited by 9 publications

References 17 publications

Development of a spherical parallel manipulator for brain surgery applications: preliminary study on the dynamic analysis and verification

Development of a spherical parallel manipulator for brain surgery applications: preliminary study on the dynamic analysis and verification

Application of Fine Motion Capture Method for Tai Chi Chuan Assistant Training

On the design of a macro‐micro parallel manipulator for cochlear microrobot operations

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