Reza Seifabadi

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PURPOSE Magnetic Resonance Imaging (MRI) combined with robotic assistance has the potential to improve on clinical outcomes of biopsy and local treatment of prostate cancer. METHODS We report the workspace optimization and phantom evaluation of a five Degree of Freedom (DOF) parallel pneumatically actuated modular robot for MRI-guided prostate biopsy. To(More)
PURPOSE To evaluate the targeting accuracy of a small profile MRI-compatible pneumatic robot for needle placement that can angulate a needle insertion path into a large accessible target volume. METHODS We extended our MRI-compatible pneumatic robot for needle placement to utilize its four degrees-of-freedom (4-DOF) mechanism with two parallel triangular(More)
The slave robot in this research is a 1-DOF piezo actuator which includes hysteresis nonlinearity. Nonlinear hysteresis behavior makes robot control a complex task. In this research, the nonlinear and uncertain dynamics of the slave robot has been considered through the teleoperation control loop. LuGre friction model is used as the estimator of the(More)
SUMMARY This paper presents the research work on a 1 degree of freedom (DOF) force reflecting tele-micromanipulation system. This system enables a human operator to position remote objects very precisely having haptic feedback. The slave robot is a nano-positioning piezo-actuator with hysteretic dynamics. This intrinsic nonlinearity results in positioning(More)
The slave robot of the macro-micro teleoperation system presented in this paper is a 1-DOF piezo actuator including hysteresis nonlinearity. This nonlinear behavior makes robot control a complex task. In this research the nonlinear and uncertain dynamics of the slave robot has been entered directly into the teleoperation control loop. The LuGre friction(More)
— A linear time invariant controller design for a bilateral teleoperation of a pair of N-DOF linear robotic systems under constant time delay is presented. This framework uses position and velocity signals together with the force signals to compensate human/environment disturbances and achieve position coordination in both free motion and contact tasks. In(More)
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