Matches in SemOpenAlex for { <https://semopenalex.org/work/W2346414549> ?p ?o ?g. }
Showing items 1 to 96 of
96
with 100 items per page.
- W2346414549 abstract "In this paper, we present the design, fabrication, and testing of a robot for automatically positioning ultrasound (US) imaging catheters. Our system will point US catheters to provide real-time imaging of anatomical structures and working instruments during minimally invasive procedures. Manually navigating US catheters is difficult and requires extensive training in order to aim the US imager at desired targets. Therefore, a four-degree-of-freedom (4DOF) robotic system was developed to automatically navigate US imaging catheters for enhanced imaging. A rotational transmission enables 3DOF for pitch, yaw, and roll of the imager. This transmission is translated by the 4DOF. An accuracy analysis calculated the maximum allowable joint motion error. Rotational joints must be accurate to within 1.5 deg, and the translational joint must be accurate within 1.4 mm. Motion tests then validated the accuracy of the robot. The average resulting errors in positioning of the rotational joints were 0.04–0.22 deg. The average measured backlash was 0.18–0.86 deg. Measurements of average translational positioning and backlash errors were negligible. The resulting joint motion errors were well within the required specifications for accurate robot motion. The output of the catheter was then tested to verify the effectiveness of the handle motions to transmit torques and translations to the catheter tip. The catheter tip was navigated to desired target poses with average error 1.3 mm and 0.71 deg. Such effective manipulation of US imaging catheters will enable better visualization in various procedures ranging from cardiac arrhythmia treatment to tumor removal in urological cases." @default.
- W2346414549 created "2016-06-24" @default.
- W2346414549 creator A5013868902 @default.
- W2346414549 creator A5046913871 @default.
- W2346414549 creator A5061751542 @default.
- W2346414549 creator A5072713001 @default.
- W2346414549 creator A5073442195 @default.
- W2346414549 creator A5084538676 @default.
- W2346414549 date "2016-05-04" @default.
- W2346414549 modified "2023-09-23" @default.
- W2346414549 title "A Four Degree of Freedom Robot for Positioning Ultrasound Imaging Catheters" @default.
- W2346414549 cites W1086774133 @default.
- W2346414549 cites W1867300769 @default.
- W2346414549 cites W2057889805 @default.
- W2346414549 cites W2088823887 @default.
- W2346414549 cites W2101667962 @default.
- W2346414549 cites W2114941718 @default.
- W2346414549 cites W2119343887 @default.
- W2346414549 cites W2137916142 @default.
- W2346414549 doi "https://doi.org/10.1115/1.4032249" @default.
- W2346414549 hasPubMedCentralId "https://www.ncbi.nlm.nih.gov/pmc/articles/4861857" @default.
- W2346414549 hasPubMedId "https://pubmed.ncbi.nlm.nih.gov/27303592" @default.
- W2346414549 hasPublicationYear "2016" @default.
- W2346414549 type Work @default.
- W2346414549 sameAs 2346414549 @default.
- W2346414549 citedByCount "6" @default.
- W2346414549 countsByYear W23464145492017 @default.
- W2346414549 countsByYear W23464145492018 @default.
- W2346414549 countsByYear W23464145492020 @default.
- W2346414549 countsByYear W23464145492021 @default.
- W2346414549 crossrefType "journal-article" @default.
- W2346414549 hasAuthorship W2346414549A5013868902 @default.
- W2346414549 hasAuthorship W2346414549A5046913871 @default.
- W2346414549 hasAuthorship W2346414549A5061751542 @default.
- W2346414549 hasAuthorship W2346414549A5072713001 @default.
- W2346414549 hasAuthorship W2346414549A5073442195 @default.
- W2346414549 hasAuthorship W2346414549A5084538676 @default.
- W2346414549 hasBestOaLocation W23464145492 @default.
- W2346414549 hasConcept C104293457 @default.
- W2346414549 hasConcept C120665830 @default.
- W2346414549 hasConcept C121332964 @default.
- W2346414549 hasConcept C127413603 @default.
- W2346414549 hasConcept C136229726 @default.
- W2346414549 hasConcept C154945302 @default.
- W2346414549 hasConcept C2524010 @default.
- W2346414549 hasConcept C2776652708 @default.
- W2346414549 hasConcept C2778603505 @default.
- W2346414549 hasConcept C28719098 @default.
- W2346414549 hasConcept C31972630 @default.
- W2346414549 hasConcept C33923547 @default.
- W2346414549 hasConcept C39920418 @default.
- W2346414549 hasConcept C41008148 @default.
- W2346414549 hasConcept C44154836 @default.
- W2346414549 hasConcept C6342182 @default.
- W2346414549 hasConcept C74650414 @default.
- W2346414549 hasConcept C78519656 @default.
- W2346414549 hasConcept C90509273 @default.
- W2346414549 hasConceptScore W2346414549C104293457 @default.
- W2346414549 hasConceptScore W2346414549C120665830 @default.
- W2346414549 hasConceptScore W2346414549C121332964 @default.
- W2346414549 hasConceptScore W2346414549C127413603 @default.
- W2346414549 hasConceptScore W2346414549C136229726 @default.
- W2346414549 hasConceptScore W2346414549C154945302 @default.
- W2346414549 hasConceptScore W2346414549C2524010 @default.
- W2346414549 hasConceptScore W2346414549C2776652708 @default.
- W2346414549 hasConceptScore W2346414549C2778603505 @default.
- W2346414549 hasConceptScore W2346414549C28719098 @default.
- W2346414549 hasConceptScore W2346414549C31972630 @default.
- W2346414549 hasConceptScore W2346414549C33923547 @default.
- W2346414549 hasConceptScore W2346414549C39920418 @default.
- W2346414549 hasConceptScore W2346414549C41008148 @default.
- W2346414549 hasConceptScore W2346414549C44154836 @default.
- W2346414549 hasConceptScore W2346414549C6342182 @default.
- W2346414549 hasConceptScore W2346414549C74650414 @default.
- W2346414549 hasConceptScore W2346414549C78519656 @default.
- W2346414549 hasConceptScore W2346414549C90509273 @default.
- W2346414549 hasLocation W23464145491 @default.
- W2346414549 hasLocation W23464145492 @default.
- W2346414549 hasLocation W23464145493 @default.
- W2346414549 hasLocation W23464145494 @default.
- W2346414549 hasOpenAccess W2346414549 @default.
- W2346414549 hasPrimaryLocation W23464145491 @default.
- W2346414549 hasRelatedWork W1897048171 @default.
- W2346414549 hasRelatedWork W2005716068 @default.
- W2346414549 hasRelatedWork W2033168016 @default.
- W2346414549 hasRelatedWork W2061090284 @default.
- W2346414549 hasRelatedWork W2095710116 @default.
- W2346414549 hasRelatedWork W2125579716 @default.
- W2346414549 hasRelatedWork W2158938020 @default.
- W2346414549 hasRelatedWork W2381794495 @default.
- W2346414549 hasRelatedWork W2407180395 @default.
- W2346414549 hasRelatedWork W4236636304 @default.
- W2346414549 isParatext "false" @default.
- W2346414549 isRetracted "false" @default.
- W2346414549 magId "2346414549" @default.
- W2346414549 workType "article" @default.