TY - GEN
T1 - Design of a small animal biopsy robot
AU - Bebek, Ozkan
AU - Hwang, Myun Joong
AU - Fei, Baowei
AU - Cavusoglu, M. Cenk
PY - 2008
Y1 - 2008
N2 - Small animals are widely used in biomedical research studies. They have compact anatomy and small organs. Therefore it is difficult to perceive tumors or cells and perform biopsies manually. Robotics technology offers a convenient and reliable solution for accurate needle insertion. In this paper, a novel 5 degrees of freedom (DOF) robot design for inserting needles into small animal subjects is proposed. The design has a compact size, is light weight, and has high resolution. Parallel mechanisms are used in the design for stable and reliable operation. The proposed robot has two gimbal joints that carry the needle mechanism. The robot can realize dexterous alignment of the needle before insertion.
AB - Small animals are widely used in biomedical research studies. They have compact anatomy and small organs. Therefore it is difficult to perceive tumors or cells and perform biopsies manually. Robotics technology offers a convenient and reliable solution for accurate needle insertion. In this paper, a novel 5 degrees of freedom (DOF) robot design for inserting needles into small animal subjects is proposed. The design has a compact size, is light weight, and has high resolution. Parallel mechanisms are used in the design for stable and reliable operation. The proposed robot has two gimbal joints that carry the needle mechanism. The robot can realize dexterous alignment of the needle before insertion.
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U2 - 10.1109/iembs.2008.4650484
DO - 10.1109/iembs.2008.4650484
M3 - Conference contribution
C2 - 19163987
AN - SCOPUS:61849179230
SN - 9781424418152
T3 - Proceedings of the 30th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS'08 - "Personalized Healthcare through Technology"
SP - 5601
EP - 5604
BT - Proceedings of the 30th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS'08
PB - IEEE Computer Society
T2 - 30th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS'08
Y2 - 20 August 2008 through 25 August 2008
ER -