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Kinematics Analysis of an MRI compatible stiffness adjustable neurosurgical robot
Farooq, Muhammad Umar(파루크 무하마드 우마르),김채원,고성영 제어로봇시스템학회 2021 제어로봇시스템학회 국내학술대회 논문집 Vol.2021 No.6
Task and anatomy-specific medical robots are areas of keen interest for the last two decades. A 6-DOF stiffness adjustable robotic system for pituitary tumor removal under MRI guidance has been introduced. It was designed according to the anatomical, surgical, and environmental constraints of the procedure. In order to implement the stiffness changing capability, the manipulator uses two distinct mechanisms merged: the concentric tube robot and the tendon actuated robot. The final prototype would be teleoperated by a physician from outside of the MRI room. To pave the way towards the teleoperated prototype, this work introduces the kinematic solution of the robotic system.
Muhammad Umar Farooq,Woo Young Kim,Seong Young Ko 제어로봇시스템학회 2017 제어로봇시스템학회 국제학술대회 논문집 Vol.2017 No.10
Continuum concentric tube robots are gaining interest from last two decades for use in minimally invasive surgeries. Progression of natural orifice transluminal endoscopic surgery and single incision laparoscopic surgery has put forth the need for new surgical tools and devices, and concentric tube robots are of key consideration for such applications. Actuation systems are among the few issues related to concentric tube robots that hinders their use in clinical procedures. In this paper, a low-cost actuation system for two three-tube concentric tube robots is introduced. The actuation system is miniaturized than the ones present in literature before. Actuation sequence of the presented system is sequential and the actuation device is modular with the ability to increase or decrease the number of tubes sufficing the need without any major alteration in the assembly. Another main aspect is parallel actuation of two manipulator arms with three tubes each from a single insertion port of 3mm internal diameter. A ligation tool is tested by the proposed actuation system for use in minimally invasive laparoscopic and endoscopic surgeries.
Design of a novel 6-DoF robotic system for pituitary tumor removal under MRI guidance
Muhammad Umar Farooq,Kyoungrae Cha,Dae Kyung Sohn,Heon Yoo,Seong Young Ko 제어로봇시스템학회 2019 제어로봇시스템학회 국제학술대회 논문집 Vol.2019 No.10
Magnetic resonance imaging (MRI) provide superior visuals that might be suitable for complicated surgical procedures in complex parts of the human body like brain and heart. Brain tumor removal is one of the trickiest surgical procedures and the pituitary tumor is one of the most common type of intracranial tumors. In this paper, we present an MRI compatible robotic system for pituitary tumor removal via trans-nasal access to the surgical site. The robotic system is designed to operate in a Siemens® 3T MRI scanner. A 5mm diameter and 6-DOF design specific manipulator is developed to access the pituitary glands and remove the tumor using the commercially available tools. The actuation system is designed to fit inside the MRI bore and operate just above the nasal entry point. The manipulator is designed to work in a 20×20mm workspace of the pituitary gland and this workspace is validated by experiments. The presented robotic system is expected to decrease the complexity by accessing the surgical site through the nasal cavity and improve the quality of tumor removal by providing better image quality under MRI guidance.
Development of Protective Scheme against Collaborative Black Hole Attacks in Mobile Ad hoc Networks
( Muhammad Umar Farooq ),( Xingfu Wang ),( Moizza Sajjad ),( Sara Qaisar ) 한국인터넷정보학회 2018 KSII Transactions on Internet and Information Syst Vol.12 No.3
Mobile Ad hoc Network (MANET) is a collection of nodes or communication devices that wish to communicate without any fixed infrastructure and predetermined organization of available links. The effort has been made by proposing a scheme to overcome the critical security issue in MANET. The insufficiency of security considerations in the design of Ad hoc On-Demand Distance Vector protocol makes it vulnerable to the threats of collaborative black hole attacks, where hacker nodes attack the data packets and drop them instead of forwarding. To secure mobile ad hoc networks from collaborative black hole attacks, we implement our scheme and considered sensor's energy as a key feature with a better packet delivery ratio, less delay time and high throughput. The proposed scheme has offered an improved solution to diminish collaborative black hole attacks with high performance and benchmark results as compared to the existing schemes EDRIAODV and DRIAODV respectively. This paper has shown that throughput and packet delivery ratio increase while the end to end delay decreases as compared to existing schemes. It also reduces the overall energy consumption and network traffic by maintaining accuracy and high detection rate which is more safe and reliable for future work.
Muhammad Umar Farooq,Seong Young Ko 제어·로봇·시스템학회 2020 International Journal of Control, Automation, and Vol.18 No.1
Ligation is a process of closing or blocking a blood vessel or duct intracorporeally to obstruct the flow of fluid before cutting it. Ligation through knot tying using a suture is a quite complex procedure and needs the use of dexterous tools to properly secure the knot. In case of natural orifice transluminal endoscopic surgery (NOTES) and single-incision laparoscopic surgery (SILS), ligation through suture knot tying is even more difficult because of the small diameters of the accessible ports. In this study, a robotic solution for suture ligation has been proposed for possible use in SILS and NOTES. The developed device can operate through a 3-mm laparoscopic port and has a workspace of 35×10×5 mm (length × width × height) around the duct. The device uses a pre-tied Roeder’s knot, which is pushed down onto the duct by the operation of two concentric tube-based manipulator arms. Preliminary evaluation validates that the device can work around a phantom duct with 7 mm outer diameter without any collisions. The operation takes an average of 128.10 s with a standard deviation of 15.72 s. The knot tied is secure enough to abduct the fluid flow inside the duct, which is validated by testing on a water-filled rubber tube. The proposed device assists surgeons for suture ligation in SILS and NOTES without the requirement for any other tools and with a possibility of decreasing the operating time.
Microwave-assisted urea-modified sorghum biomass for Cr (III) elimination from aqueous solutions
Muhammad Salman,Makshoof Athar,Umar Farooq,Huma Nazir,Anam Noor,Saba Nazir 한국화학공학회 2013 Korean Journal of Chemical Engineering Vol.30 No.6
The present study concentrated on the use of an agro-waste biodegradable sorghum biomass in its simple and modified forms for the binding of Cr (III) ions. A relatively new method of modification was adopted using urea under microwave irradiation. FTIR analysis showed the presence of oxygen and nitrogen bearing functional groups in unmodified (UMS) and modified (MS) sorghum biomass. The appearance of new bands and shifts in the peaks confirmed the modification. The influence of different process parameters such as the adsorbent dose, solution pH, contact time, agitation speed and initial metal ion concentration was studied thoroughly to evaluate optimum conditions for adsorption. Maximum adsorption for Cr (III) ions occurred at pH 5.0-6.0 using UMS and MS. Langmuir, Freundlich,Temkin, and Dubinin-Radushkevich isotherm models in a non-linear fashion were used to explain the phenomenon. Maximum adsorption capacity was 7.03 and 16.36 mg of Cr (III) per gram of UMS and MS, respectively. Adsorption mechanism was explored by pseudo-first- and pseudo-second-order kinetic models, and it was found that the process followed pseudo-second-order kinetics. Thermodynamic study indicated the process favorability. The study concluded that urea modification under microwave irradiation produces a non-toxic and more effective adsorbent for Cr (III) remediation by inducing new nitrogen bearing functional groups to sorghum biomass.
A new approach to modification of an agro-based raw material for Pb(II) adsorption
Muhammad Salman,Makshoof Athar,Umar Farooq,Sadaf Rauf,Umy Habiba 한국화학공학회 2014 Korean Journal of Chemical Engineering Vol.31 No.3
This paper describes a relatively new and effective modification with thiourea of an agro-based raw material,sorghum biomass for adsorption of Pb(II) ions. The modification was done under microwave irradiation. Changes incharacteristics of modified material were determined by FT-IR and CHNS analysis. Effect of adsorbent dosage, contacttime, solution pH and temperature on equilibrium process was extensively studied. Famous equilibrium models (Langmuir,Freundlich, Temkin, Dubinin-Radushkevich) in non-linear fashion were applied to evaluate the equilibrium data usingdifferent initial concentrations of Pb(II) ranging from 20 mg/L to 300mg/L. The adsorption process followed the pseudosecond-order kinetics. This paper also discusses the thermodynamic parameters (free energy, enthalpy and entropy)and reveals that the adsorption process is spontaneous. An appreciable increase in adsorption capacity of the modifiedadsorbent was observed, depicting the advantages of thiourea modification of sorghum biomass under microwave irradiation.
Use of wheat straw for effective binding of metal ions via a novel modification
Faiza Farooq,Umar Farooq,Madeeha Batool,Makshoof Athar,Muhammad Salman,Qaiser Ahmed,Ayesha Ashraf 한국화학공학회 2015 Korean Journal of Chemical Engineering Vol.32 No.9
An innovative biacetyl-modified Triticum aestivum (BMTA) was prepared and its biosorption efficiency was investigated for the removal of Pb(II) and Cr(III) ions from synthesized single and binary metal solutions. The characterization using infrared spectrum, surface area determination and potentiometric titrations indicated an increased acid content of the biomass, indicating BMTA as a potential choice for the binding of metal ions at a relatively low pH. The isoelectric point was found to be at pH 4.5. Various biosorption parameters were optimized. Langmuir model best fitted the experimental equilibrium data with qmax 27.39mg/g for Pb(II) ions and 24.69mg/g for Cr(III) ions in single metal system and 24.21mg/g for Pb(II) and 12.97mg/g for Cr(III) ions in binary system, respectively. The kinetics was described by pseudo-second-order model both in single and binary metal system. The studies indicated relatively selective biosorption of Pb(II) ions by BMTA compared to other metal ions.