Design of a Compliant Manipulator for Removing Malign Cancer Tissue through Hydrodynamic Cavitation. Tokatli, O. & Patoglu, V. In ECCOMAS Thematic Conference on Multibody Dynamics, 2011. abstract bibtex This work presents the design of a high-resolution micro-positioner for prostate cancer treatment with hydrodynamic cavitation. In order to effectively utilize the cavitating behavior of bubbles, a compliant mechanism is optimized for high positioning accuracy at its task space. In particular, the design problem of a micro-positioner is conducted in two steps: type selection and dimensional synthesis. In the type selection, a compliant triglide mechanism is chosen as the main kinematic structure of the micro-positioner, while in the dimensional synthesis, the maximum of the Frobenius norm of the Jacobian on the overall workspace is minimized. CAD model of the optimal design is presented.
@InProceedings{Tokatli2011a,
booktitle = {ECCOMAS Thematic Conference on Multibody Dynamics},
author = {Ozan Tokatli and Volkan Patoglu},
title = {Design of a Compliant Manipulator for Removing Malign Cancer Tissue through Hydrodynamic Cavitation},
year = {2011},
abstract = {This work presents the design of a high-resolution micro-positioner for prostate cancer treatment with hydrodynamic cavitation. In order to effectively utilize the cavitating behavior of bubbles, a compliant mechanism is optimized for high positioning accuracy at its task space. In particular, the design problem of a micro-positioner is conducted in two steps: type selection and dimensional synthesis. In the type selection, a compliant triglide mechanism is chosen as the main kinematic structure of the micro-positioner, while in the dimensional synthesis, the maximum of the Frobenius norm of the Jacobian on the overall workspace is minimized. CAD model of the optimal design is presented.}
}
Downloads: 0
{"_id":{"_str":"534213c9ecd21cdc07000085"},"__v":4,"authorIDs":["5456f7f58b01c819300000d0","5457bde32abc8e9f37000694"],"author_short":["Tokatli, O.","Patoglu, V."],"bibbaseid":"tokatli-patoglu-designofacompliantmanipulatorforremovingmaligncancertissuethroughhydrodynamiccavitation-2011","bibdata":{"bibtype":"inproceedings","type":"inproceedings","booktitle":"ECCOMAS Thematic Conference on Multibody Dynamics","author":[{"firstnames":["Ozan"],"propositions":[],"lastnames":["Tokatli"],"suffixes":[]},{"firstnames":["Volkan"],"propositions":[],"lastnames":["Patoglu"],"suffixes":[]}],"title":"Design of a Compliant Manipulator for Removing Malign Cancer Tissue through Hydrodynamic Cavitation","year":"2011","abstract":"This work presents the design of a high-resolution micro-positioner for prostate cancer treatment with hydrodynamic cavitation. In order to effectively utilize the cavitating behavior of bubbles, a compliant mechanism is optimized for high positioning accuracy at its task space. In particular, the design problem of a micro-positioner is conducted in two steps: type selection and dimensional synthesis. In the type selection, a compliant triglide mechanism is chosen as the main kinematic structure of the micro-positioner, while in the dimensional synthesis, the maximum of the Frobenius norm of the Jacobian on the overall workspace is minimized. CAD model of the optimal design is presented.","bibtex":"@InProceedings{Tokatli2011a,\n\tbooktitle = {ECCOMAS Thematic Conference on Multibody Dynamics},\n\tauthor = {Ozan Tokatli and Volkan Patoglu},\n\ttitle = {Design of a Compliant Manipulator for Removing Malign Cancer Tissue through Hydrodynamic Cavitation},\n\tyear = {2011},\n\tabstract = {This work presents the design of a high-resolution micro-positioner for prostate cancer treatment with hydrodynamic cavitation. In order to effectively utilize the cavitating behavior of bubbles, a compliant mechanism is optimized for high positioning accuracy at its task space. In particular, the design problem of a micro-positioner is conducted in two steps: type selection and dimensional synthesis. In the type selection, a compliant triglide mechanism is chosen as the main kinematic structure of the micro-positioner, while in the dimensional synthesis, the maximum of the Frobenius norm of the Jacobian on the overall workspace is minimized. CAD model of the optimal design is presented.}\n}\n\n","author_short":["Tokatli, O.","Patoglu, V."],"key":"Tokatli2011a","id":"Tokatli2011a","bibbaseid":"tokatli-patoglu-designofacompliantmanipulatorforremovingmaligncancertissuethroughhydrodynamiccavitation-2011","role":"author","urls":{},"downloads":0,"html":"","metadata":{"authorlinks":{}}},"bibtype":"inproceedings","biburl":"hmi.sabanciuniv.edu/patoglu_bib.bib","downloads":0,"keywords":[],"search_terms":["design","compliant","manipulator","removing","malign","cancer","tissue","through","hydrodynamic","cavitation","tokatli","patoglu"],"title":"Design of a Compliant Manipulator for Removing Malign Cancer Tissue through Hydrodynamic Cavitation","year":2011,"dataSources":["g2mDMKihSyQjpNZsS","iJc3qKk8FyPTPcHad"]}