var bibbase_data = {"data":"<img src=\"//bibbase.org/img/ajax-loader.gif\" id=\"spinner\"\n  style=\"display: none;\" alt=\"Loading..\" />\n\n<div id=\"bibbase\">\n\n  <script type=\"text/javascript\">\n    var bibbase = {\n      params: {\"bib\":\"https://niravatgit.github.io/patelnirav.com/resources/Nirav_Publicationst.bib\",\"jsonp\":\"1\",\"group0\":\"type\",\"folding\":\"1\",\"css\":\"niravatgit.github.io/patelnirav.com/css/style.css\",\"filter\":\"key:yan2019body|wu2019remotelyISMR|wu2019remotelyEMBC|nirav2018_2|li2019body|patel2018body\",\"host\":\"bibbase.org\"},\n      data: [{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"abstract\":\"To assist in percutaneous interventions in the lower back under magnetic resonance imaging guidance, a 4 degree-of-freedom body-mounted parallel robot is developed. The robot structure is improved comparatively to a previously developed robot, to increase the stability, enhance accuracy, and streamline the assembly and calibration process. The optimized assembly and calibration workflows are carried out, and the system accuracy is evaluated. The results demonstrate that the system positioning and angular accuracy are 2.28±1.1 mm and 1.94±1.01 degrees respectively. The results show that the new system has a promising and consistent behavior.\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Yan\"],\"firstnames\":[\"Jiawen\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Patel\"],\"firstnames\":[\"Niravkumar\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Di Wu\"],\"firstnames\":[\"Gang\",\"Li\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Cleary\"],\"firstnames\":[\"Kevin\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Iordachita\"],\"firstnames\":[\"Iulian\"],\"suffixes\":[]}],\"booktitle\":\"Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS\",\"doi\":\"10.1109/EMBC.2019.8857667\",\"isbn\":\"9781538613115\",\"issn\":\"1557170X\",\"organization\":\"IEEE\",\"pages\":\"1990–1993\",\"pmid\":\"31946290\",\"title\":\"Body-Mounted MRI-Conditional Parallel Robot for Percutaneous Interventions Structural Improvement, Calibration, and Accuracy Analysis\",\"year\":\"2019\",\"bibtex\":\"@inproceedings{yan2019body,\\nabstract = {To assist in percutaneous interventions in the lower back under magnetic resonance imaging guidance, a 4 degree-of-freedom body-mounted parallel robot is developed. The robot structure is improved comparatively to a previously developed robot, to increase the stability, enhance accuracy, and streamline the assembly and calibration process. The optimized assembly and calibration workflows are carried out, and the system accuracy is evaluated. The results demonstrate that the system positioning and angular accuracy are 2.28±1.1 mm and 1.94±1.01 degrees respectively. The results show that the new system has a promising and consistent behavior.},\\nauthor = {Yan, Jiawen and Patel, Niravkumar and {Di Wu}, Gang Li and Cleary, Kevin and Iordachita, Iulian},\\nbooktitle = {Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS},\\ndoi = {10.1109/EMBC.2019.8857667},\\nisbn = {9781538613115},\\nissn = {1557170X},\\norganization = {IEEE},\\npages = {1990--1993},\\npmid = {31946290},\\ntitle = {{Body-Mounted MRI-Conditional Parallel Robot for Percutaneous Interventions Structural Improvement, Calibration, and Accuracy Analysis}},\\nyear = {2019}\\n}\\n\",\"author_short\":[\"Yan, J.\",\"Patel, N.\",\"Di Wu, G. L.\",\"Cleary, K.\",\"Iordachita, I.\"],\"key\":\"yan2019body\",\"id\":\"yan2019body\",\"bibbaseid\":\"yan-patel-diwu-cleary-iordachita-bodymountedmriconditionalparallelrobotforpercutaneousinterventionsstructuralimprovementcalibrationandaccuracyanalysis-2019\",\"role\":\"author\",\"urls\":{},\"metadata\":{\"authorlinks\":{\"yan, j\":\"https://niravatgit.github.io/patelnirav.com/index.html\"}},\"downloads\":2,\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"abstract\":\"This paper presents a body-mounted, four degree-of-freedom (4-DOF) parallel mechanism robot for image-guided percutaneous interventions. The design of the robot is optimized to be light weight and compact such that it could be mounted to the patient body. It has a modular design that can be adopted for assisting various image-guided, needle-based percutaneous interventions such as arthrography, biopsy and brachytherapy seed placement. The robot mechanism and the control system are designed and manufactured with components compatible with imaging modalities including Magnetic Resonance Imaging (MRI) and Computed Tomography (CT). The current version of the robot presented in this paper is optimized for shoulder arthrography under MRI guidance; a Z-shaped fiducial frame is attached to the robot, providing accurate and repeatable robot registration with the MR scanner coordinate system. Here we present the mechanical design of the manipulator, robot kinematics, robot calibration procedure, and preliminary bench-top accuracy assessment. The bench-top accuracy evaluation of the robotic manipulator shows average translational error of 1.01 mm and 0.96 mm in X and Z axes, respectively, and average rotational error of 3.06 degrees and 2.07 degrees about the X and Z axes, respectively.\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Patel\"],\"firstnames\":[\"Niravkumar\",\"A.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Yan\"],\"firstnames\":[\"Jiawen\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Levi\"],\"firstnames\":[\"David\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Monfaredi\"],\"firstnames\":[\"Reza\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Cleary\"],\"firstnames\":[\"Kevin\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Iordachita\"],\"firstnames\":[\"Iulian\"],\"suffixes\":[]}],\"booktitle\":\"IEEE International Conference on Intelligent Robots and Systems\",\"doi\":\"10.1109/IROS.2018.8593807\",\"isbn\":\"9781538680940\",\"issn\":\"21530866\",\"organization\":\"IEEE\",\"pages\":\"1443–1448\",\"title\":\"Body-Mounted Robot for Image-Guided Percutaneous Interventions: Mechanical Design and Preliminary Accuracy Evaluation\",\"year\":\"2018\",\"bibtex\":\"@inproceedings{patel2018body,\\nabstract = {This paper presents a body-mounted, four degree-of-freedom (4-DOF) parallel mechanism robot for image-guided percutaneous interventions. The design of the robot is optimized to be light weight and compact such that it could be mounted to the patient body. It has a modular design that can be adopted for assisting various image-guided, needle-based percutaneous interventions such as arthrography, biopsy and brachytherapy seed placement. The robot mechanism and the control system are designed and manufactured with components compatible with imaging modalities including Magnetic Resonance Imaging (MRI) and Computed Tomography (CT). The current version of the robot presented in this paper is optimized for shoulder arthrography under MRI guidance; a Z-shaped fiducial frame is attached to the robot, providing accurate and repeatable robot registration with the MR scanner coordinate system. Here we present the mechanical design of the manipulator, robot kinematics, robot calibration procedure, and preliminary bench-top accuracy assessment. The bench-top accuracy evaluation of the robotic manipulator shows average translational error of 1.01 mm and 0.96 mm in X and Z axes, respectively, and average rotational error of 3.06 degrees and 2.07 degrees about the X and Z axes, respectively.},\\nauthor = {Patel, Niravkumar A. and Yan, Jiawen and Levi, David and Monfaredi, Reza and Cleary, Kevin and Iordachita, Iulian},\\nbooktitle = {IEEE International Conference on Intelligent Robots and Systems},\\ndoi = {10.1109/IROS.2018.8593807},\\nisbn = {9781538680940},\\nissn = {21530866},\\norganization = {IEEE},\\npages = {1443--1448},\\ntitle = {{Body-Mounted Robot for Image-Guided Percutaneous Interventions: Mechanical Design and Preliminary Accuracy Evaluation}},\\nyear = {2018}\\n}\\n\",\"author_short\":[\"Patel, N. 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In order to keep using Mendeley with BibBase past April\n        14th, you need to:\n        <ol>\n          <li>renew the authorization for BibBase on Mendeley, and</li>\n          <li>update the BibBase URL\n            in your page the same way you did when you initially set up\n            this page.\n          </li>\n        </ol>\n      </p>\n\n      <p>\n        <a href=\"http://bibbase.org/cgi-bin/mendeley2/get.py\">\n          <i class=\"fa fa-angle-double-right\"></i>\n          Fix it now</a>\n      </p>\n    </div>\n\n  </div>\n\n\n  <div id=\"bibbase_body\">\n    \n  \n  <div class=\"bibbase_group_whole\" id=\"group_inproceedings\">\n    <div class=\"bibbase_group\"\n      onclick=\"toggleGroup('group_inproceedings')\"\n      onkeypress=\"toggleGroup('group_inproceedings')\"\n      tabindex=\"0\">\n      <i class=\"fa fa-angle-down bibbase_group_head_icon\"></i>&nbsp;\n      <span>inproceedings</span>\n      <span class=\"bibbase_group_count\">\n        \n        (2)\n        \n      </span>\n    </div>\n    <div class=\"bibbase_group_body\">\n      \n  \n  <div class=\"bibbase_paper\" id=\"yan-patel-diwu-cleary-iordachita-bodymountedmriconditionalparallelrobotforpercutaneousinterventionsstructuralimprovementcalibrationandaccuracyanalysis-2019\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Body-Mounted MRI-Conditional Parallel Robot for Percutaneous Interventions Structural Improvement, Calibration, and Accuracy Analysis.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  <a class=\"bibbase author link\" href=\"https://niravatgit.github.io/patelnirav.com/index.html\">Yan, J.</a>; Patel, N.; Di Wu, G. L.; Cleary, K.;  and Iordachita, I.\n</span>\n\n  \n\n</span>\n\n  In <i>Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS</i>, pages 1990–1993,  2019. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n  <a href=\"http://doi.org/10.1109/EMBC.2019.8857667\"\n     onclick=\"log_download('yan-patel-diwu-cleary-iordachita-bodymountedmriconditionalparallelrobotforpercutaneousinterventionsstructuralimprovementcalibrationandaccuracyanalysis-2019', 'http://doi.org/10.1109/EMBC.2019.8857667', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/yan-patel-diwu-cleary-iordachita-bodymountedmriconditionalparallelrobotforpercutaneousinterventionsstructuralimprovementcalibrationandaccuracyanalysis-2019\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>2 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('yan-patel-diwu-cleary-iordachita-bodymountedmriconditionalparallelrobotforpercutaneousinterventionsstructuralimprovementcalibrationandaccuracyanalysis-2019')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{yan2019body,\nabstract = {To assist in percutaneous interventions in the lower back under magnetic resonance imaging guidance, a 4 degree-of-freedom body-mounted parallel robot is developed. The robot structure is improved comparatively to a previously developed robot, to increase the stability, enhance accuracy, and streamline the assembly and calibration process. The optimized assembly and calibration workflows are carried out, and the system accuracy is evaluated. The results demonstrate that the system positioning and angular accuracy are 2.28±1.1 mm and 1.94±1.01 degrees respectively. The results show that the new system has a promising and consistent behavior.},\nauthor = {Yan, Jiawen and Patel, Niravkumar and {Di Wu}, Gang Li and Cleary, Kevin and Iordachita, Iulian},\nbooktitle = {Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS},\ndoi = {10.1109/EMBC.2019.8857667},\nisbn = {9781538613115},\nissn = {1557170X},\norganization = {IEEE},\npages = {1990--1993},\npmid = {31946290},\ntitle = {{Body-Mounted MRI-Conditional Parallel Robot for Percutaneous Interventions Structural Improvement, Calibration, and Accuracy Analysis}},\nyear = {2019}\n}\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  To assist in percutaneous interventions in the lower back under magnetic resonance imaging guidance, a 4 degree-of-freedom body-mounted parallel robot is developed. The robot structure is improved comparatively to a previously developed robot, to increase the stability, enhance accuracy, and streamline the assembly and calibration process. The optimized assembly and calibration workflows are carried out, and the system accuracy is evaluated. The results demonstrate that the system positioning and angular accuracy are 2.28±1.1 mm and 1.94±1.01 degrees respectively. The results show that the new system has a promising and consistent behavior.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"patel-yan-levi-monfaredi-cleary-iordachita-bodymountedrobotforimageguidedpercutaneousinterventionsmechanicaldesignandpreliminaryaccuracyevaluation-2018\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Body-Mounted Robot for Image-Guided Percutaneous Interventions: Mechanical Design and Preliminary Accuracy Evaluation.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Patel, N. A.; <a class=\"bibbase author link\" href=\"https://niravatgit.github.io/patelnirav.com/index.html\">Yan, J.</a>; Levi, D.; Monfaredi, R.; Cleary, K.;  and Iordachita, I.\n</span>\n\n  \n\n</span>\n\n  In <i>IEEE International Conference on Intelligent Robots and Systems</i>, pages 1443–1448,  2018. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n  <a href=\"http://doi.org/10.1109/IROS.2018.8593807\"\n     onclick=\"log_download('patel-yan-levi-monfaredi-cleary-iordachita-bodymountedrobotforimageguidedpercutaneousinterventionsmechanicaldesignandpreliminaryaccuracyevaluation-2018', 'http://doi.org/10.1109/IROS.2018.8593807', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/patel-yan-levi-monfaredi-cleary-iordachita-bodymountedrobotforimageguidedpercutaneousinterventionsmechanicaldesignandpreliminaryaccuracyevaluation-2018\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>2 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('patel-yan-levi-monfaredi-cleary-iordachita-bodymountedrobotforimageguidedpercutaneousinterventionsmechanicaldesignandpreliminaryaccuracyevaluation-2018')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{patel2018body,\nabstract = {This paper presents a body-mounted, four degree-of-freedom (4-DOF) parallel mechanism robot for image-guided percutaneous interventions. The design of the robot is optimized to be light weight and compact such that it could be mounted to the patient body. It has a modular design that can be adopted for assisting various image-guided, needle-based percutaneous interventions such as arthrography, biopsy and brachytherapy seed placement. The robot mechanism and the control system are designed and manufactured with components compatible with imaging modalities including Magnetic Resonance Imaging (MRI) and Computed Tomography (CT). The current version of the robot presented in this paper is optimized for shoulder arthrography under MRI guidance; a Z-shaped fiducial frame is attached to the robot, providing accurate and repeatable robot registration with the MR scanner coordinate system. Here we present the mechanical design of the manipulator, robot kinematics, robot calibration procedure, and preliminary bench-top accuracy assessment. The bench-top accuracy evaluation of the robotic manipulator shows average translational error of 1.01 mm and 0.96 mm in X and Z axes, respectively, and average rotational error of 3.06 degrees and 2.07 degrees about the X and Z axes, respectively.},\nauthor = {Patel, Niravkumar A. and Yan, Jiawen and Levi, David and Monfaredi, Reza and Cleary, Kevin and Iordachita, Iulian},\nbooktitle = {IEEE International Conference on Intelligent Robots and Systems},\ndoi = {10.1109/IROS.2018.8593807},\nisbn = {9781538680940},\nissn = {21530866},\norganization = {IEEE},\npages = {1443--1448},\ntitle = {{Body-Mounted Robot for Image-Guided Percutaneous Interventions: Mechanical Design and Preliminary Accuracy Evaluation}},\nyear = {2018}\n}\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  This paper presents a body-mounted, four degree-of-freedom (4-DOF) parallel mechanism robot for image-guided percutaneous interventions. The design of the robot is optimized to be light weight and compact such that it could be mounted to the patient body. It has a modular design that can be adopted for assisting various image-guided, needle-based percutaneous interventions such as arthrography, biopsy and brachytherapy seed placement. The robot mechanism and the control system are designed and manufactured with components compatible with imaging modalities including Magnetic Resonance Imaging (MRI) and Computed Tomography (CT). The current version of the robot presented in this paper is optimized for shoulder arthrography under MRI guidance; a Z-shaped fiducial frame is attached to the robot, providing accurate and repeatable robot registration with the MR scanner coordinate system. Here we present the mechanical design of the manipulator, robot kinematics, robot calibration procedure, and preliminary bench-top accuracy assessment. The bench-top accuracy evaluation of the robotic manipulator shows average translational error of 1.01 mm and 0.96 mm in X and Z axes, respectively, and average rotational error of 3.06 degrees and 2.07 degrees about the X and Z axes, respectively.\n</div>\n\n\n</div>\n\n\n\n\n\n    </div>\n  </div>\n\n\n\n\n  </div>\n\n\n  <!-- Modal -->\n\n  <!-- <iframe id=\"bibbase_network_frame\" -->\n  <!--         src=\"//bibbase.org/network/control\" -->\n  <!--         style=\"display: none;\"> -->\n  <!-- </iframe> -->\n\n</div>\n"}; document.write(bibbase_data.data);