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EnglishIn our previous studies we have considered a possible use of a manipulator for biomedical applications guided by the so-called tilting-collimator (TC) scintillation gamma-ray camera. The imaged gamma-ray emitting object is localized exploiting our patented method to determine the camera-toobject distance using a TC camera (patent No RM 2006 A 000216, UIBM Roma). Thus the three coordinates of the object are obtained without moving either the camera or the object. A manipulator coupled to the TC camera and designed for simple operations such as e.g. biopsy has been constructed. It has been realized as a three-segmented arm compounded by three mutually perpendicular linear actuators. The manipulator guidance and motion control are conducted by a computer after processing the images obtained for two different collimator positions of the TC camera. Accuracy and precision tests f the manipulator positioning have been conducted using tissue-equivalent phantom which contained small spherically shaped avities filled with a solution of 99mTc. The tests measurements show that the instrument possesses satisfactory accuracy and recision for camera-toobject distances ranging from 0 up to 10cm and can be used for in-vivo small-object studies such as monitoring of the biodistribution of radiopharmaceuticals, needle biopsy, tissue sampling, etc. © 2008 IEEE.
| Titolo: | Positioning accuracy and precision of a three degrees-of-freedom manipulator guided by tilting collimator scintillation camera | |
| Autore/i: | Uzunov N. M.; Bello M.; Boccaccio P.; Moschini G.; Bollini D.; Baldazzi G.; Pani R. | |
| Autore/i Unibo: | ||
| Anno: | 2008 | |
| Serie: | ||
| Titolo del libro: | IEEE Nuclear Science Symposium Conference Record | |
| Pagina iniziale: | 3820 | |
| Pagina finale: | 3823 | |
| Digital Object Identifier (DOI): | http://dx.doi.org/10.1109/NSSMIC.2008.4774290 | |
| Abstract: | In our previous studies we have considered a possible use of a manipulator for biomedical applications guided by the so-called tilting-collimator (TC) scintillation gamma-ray camera. The imaged gamma-ray emitting object is localized exploiting our patented method to determine the camera-toobject distance using a TC camera (patent No RM 2006 A 000216, UIBM Roma). Thus the three coordinates of the object are obtained without moving either the camera or the object. A manipulator coupled to the TC camera and designed for simple operations such as e.g. biopsy has been constructed. It has been realized as a three-segmented arm compounded by three mutually perpendicular linear actuators. The manipulator guidance and motion control are conducted by a computer after processing the images obtained for two different collimator positions of the TC camera. Accuracy and precision tests f the manipulator positioning have been conducted using tissue-equivalent phantom which contained small spherically shaped avities filled with a solution of 99mTc. The tests measurements show that the instrument possesses satisfactory accuracy and recision for camera-toobject distances ranging from 0 up to 10cm and can be used for in-vivo small-object studies such as monitoring of the biodistribution of radiopharmaceuticals, needle biopsy, tissue sampling, etc. © 2008 IEEE. | |
| Data stato definitivo: | 28-feb-2022 | |
| Appare nelle tipologie: | 4.01 Contributo in Atti di convegno |
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