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001-es BibID:	BIBFORM127893
Első szerző:	Saadah, Alaa (mechatronikai mérnök)
Cím:	Emergency Position Recovery Using Forward Kinematics in Robotic Patient Positioning Systems for Radiosurgery / Alaa Saadah, Laszlo Fadgyas, Donald Medlin, Jad Saud, Jason Henderson, Tibor Koroknai, Mate Koroknai, David Takacs, Peter Panko, Xiaoran Zheng, Endre Takacs, Géza Husi
Dátum:	2025
ISSN:	1424-8220
Megjegyzések:	Precise patient positioning is paramount in radiosurgery to ensure the accurate targeting of tumors while minimizing damage to surrounding healthy tissues. This study focuses on the development and validation of a robust forward kinematics (FK) model for a robotic patient positioning system, specifically designed to handle emergency interruptions such as power loss or emergency stops. The FK model integrates data from high-resolution primary encoders within the actuators and secondary encoders post-load on each axis, providing real-time feedback and ensuring sub-millimeter positional accuracy. The control architecture leverages a dual-loop feedback system to enhance precision and stability during operation and recovery. The simulation and experimental results demonstrate that the FK model, combined with encoder feedback, reliably determines the patient bed`s exact position during interruptions and guides the system`s safe and accurate resumption of treatment. These findings underscore the critical role of FK and encoder integration in improving the safety, reliability, and precision of robotic radiosurgery systems, addressing key challenges in medical robotics for radiation therapy.
Tárgyszavak:	Műszaki tudományok Gépészeti tudományok idegen nyelvű folyóiratközlemény külföldi lapban folyóiratcikk robotic patient positioning radiosurgery forward kinematics (FK) primary encoders secondary encoders dual-loop control emergency interruption handling radiation therapy medical robotics precision positioning
Megjelenés:	25 : 4 (2025), p. 1-28. -
További szerzők:	Fadgyas László Medlin, Donald (1988-) (Medical physicist) Saud, Jad (1996-) (mechatronikai mérnök) Henderson, Jason Koroknai Tibor Koroknai Máté Takács Dávid Pankó Péter Zheng, Xiao Ran (1967-) (Radiosurgery technology inventor) Takács Endre Husi Géza (1935-) (közlekedés mérnök)
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001-es BibID:	BIBFORM118414
035-os BibID:	(Scopus)85187252846 (WoS)001172279400001
Első szerző:	Saadah, Alaa (mechatronikai mérnök)
Cím:	Developing Robust Safety Protocols for Radiosurgery within Patient Positioning System Framework / Alaa Saadah, Donald Medlin, Jad Saud, Levente Menyhárt, Xiaoran Zheng, Géza Husi
Dátum:	2024
ISSN:	2075-1702
Megjegyzések:	This paper offers a comprehensive examination of the development and implementation of advanced safety protocols in the Patient Positioning System (PPS) for radiosurgery. In an era where precision and safety are increasingly crucial in medical procedures, particularly radiosurgery, the implementation of sophisticated safety measures in PPS is vital. This research delves into the detailed design of the system, emphasizing the sensor and controller mechanisms employed. A significant focus is placed on comparing single-loop and dual-loop control systems, assessing their impact on the precision, accuracy, and repeatability of the PPS. The study showcases how dual-loop control demonstrates superior performance in these areas, leading to enhanced patient safety and treatment outcomes. Additionally, the paper discusses the integration of these safety protocols within the system's architecture, underscoring the practical implications of these advanced measures in augmenting patient safety and treatment effectiveness.
Tárgyszavak:	idegen nyelvű folyóiratközlemény külföldi lapban folyóiratcikk patient positioning medical robots safety radiosurgery single loop dual loop
Megjelenés:	Machines. - 12 (2024), p. 1-21. -
További szerzők:	Medlin, Donald (1988-) (Medical physicist) Saud, Jad (1996-) (mechatronikai mérnök) Menyhárt Levente Zheng, Xiao Ran (1967-) (Radiosurgery technology inventor) Husi Géza (1962-) (gépészmérnök, mechatronikai mérnök, számítógépes tervezőmérnök)
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001-es BibID:	BIBFORM118217
035-os BibID:	(Scopus)85183326785
Első szerző:	Saadah, Alaa (mechatronikai mérnök)
Cím:	A State-of-the-Art Design: Applying Forward Kinematics to Improve Patient Positioning in Radiosurgery / Alaa Saadah, Donald Medlin, Jad Saud, Xiao Ran Zheng, Géza Husi
Dátum:	2024
Megjegyzések:	This paper presents a comprehensive study on the application of forward kinematics in the development and control of an innovative Patient Positioning System (PPS) for radiosurgery treatment. The proposed PPS, consisting of a linear rail system, a linkage system, and a tabletop, synergizes to enable precise human body positioning.The standout feature of our PPS is the linkage system, equipped with four linkage arms-three active and one passive. Together, these arms facilitate diverse motions, allowing for rotation, translation, and inclination of the endpoint, thereby providing unmatched precision and versatility. Forward kinematics profoundly enhances the design and operational capabilities of the robotic linkage and the positioning system as a whole.In addressing the positional challenges posed by the PPS's robotic components, remarkable accuracy has been achieved in the system`s kinematic modeling. A crucial aspect of our findings revolves around the error analysis. By applying single and dual loop control methods, significant advancements have been made in minimizing positional errors, thereby enhancing the PPS`s accuracy and reliability. Detailed insights into the error, including the Heat Matrix, will be discussed in-depth within the paper, following a robust experimental validation using MATLAB and a comparative assessment with CAD model measurements.
ISBN:	9798350380828
Tárgyszavak:	előadáskivonat könyvrészlet Forward Kinematics Patient Positioning System (PPS) Robotic Medical Device DH Parameters Kinematics Modeling Robotic Radiosurgery Precision Positioning
Megjelenés:	2023 International Conference on Microelectronics (ICM). - p. 86-90. -
További szerzők:	Medlin, Donald (1988-) (Medical physicist) Saud, Jad (1996-) (mechatronikai mérnök) Zheng, Xiao Ran (1967-) (Radiosurgery technology inventor) Husi Géza (1962-) (gépészmérnök, mechatronikai mérnök, számítógépes tervezőmérnök)
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001-es BibID:	BIBFORM114199
035-os BibID:	(Scopus)85167423750
Első szerző:	Saadah, Alaa (mechatronikai mérnök)
Cím:	Kinematics Study for Linkage System (Parallel Robotics System) : linkage system of patient positioning system PPS to accurately position a human body for radiosurgery treatment / Alaa Saadah, Donald Medlin, Jad Saud, Xiao Ran Zheng, Husi Géza
Dátum:	2023
Megjegyzések:	This paper presents a Kinematics study that was done to control a novel design of a patient positioning system (PPS) to accurately position a human body for radiosurgery treatment. The Linkage System is the centerpiece of the PPS. The linkage system has 4 linkage arms with 3 active arms and 1 passive arm to produce the rotation, translation, and the inclination of end point. The design of the robot linkage had done based on Forward Kinematics (FK) and Inverse Kinematics (IK). The position problem of the robotics linkage has been solved. The kinematics modeling of the robotic-linage system and the performance of the validated with an experimental setup using MATLAB, according to the experimental result, the Kinematics model`s accuracy is Ultrahigh.
Tárgyszavak:	Műszaki tudományok Informatikai tudományok előadáskivonat könyvrészlet Parallel Robot Forward Kinematics DH Parameters Inverse Kinematics Patient Positioning System (PPS)
Megjelenés:	Advances in Science and Engineering Technology International Conferences (ASET). - US: IEEE Xplore (2023), p. 1-6. -
További szerzők:	Medlin, Donald (1988-) (Medical physicist) Saud, Jad (1996-) (mechatronikai mérnök) Zheng, Xiao Ran (1967-) (Radiosurgery technology inventor) Husi Géza (1962-) (gépészmérnök, mechatronikai mérnök, számítógépes tervezőmérnök)
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