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|Title:||Inverse kinematics of a single probe effector for a non-invasive brain surgery robot Fusbot-NS||Authors:||Dhanasekaran Shrishailesh||Keywords:||DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics||Issue Date:||2009||Abstract:||Medical robotics and computer assisted surgery are used in a growing number of operating rooms around the world, largely as a result of the popularity of minimally invasive and non-invasive surgical techniques. Minimally invasive and non-invasive surgical techniques are gaining importance in bio-medical research areas. Radiation therapy is the commonly used technique for non- invasive treatment. Due to tissue ionisation, radiation therapy has many side effects such as oedema, damage to epithelium and fatigue. High Intensity Focused Ultrasound (HIFU) is devoid of ionizing effects making it more suitable for organs such as brain which have low radiation tolerance. In oncology HIFU can be used for highly focussed non-invasive tissue ablation ensuring minimal damage to surrounding tissue. Focused Ultrasound Surgery- FUSBOT developed by Biomechatronics group, Robotic Research Centre (RRC), NTU for a series of robots for precise positioning and feedback in FUS.||Description:||80 p.||URI:||http://hdl.handle.net/10356/46989||Rights:||Nanyang Technological University||Fulltext Permission:||restricted||Fulltext Availability:||With Fulltext|
|Appears in Collections:||EEE Theses|
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