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Tétel Szabadon hozzáférhető Advanced Motion Control In Robotic Patient Positioning System For Brain Cancer Radiosurgery(2024-06-12) Saadah, Alaa; Husi, Géza; Alaa, Alaa; Informatikai tudományok doktori iskola; Műszaki Kar::Mechatronikai TanszékRadiosurgery is essential in treating brain cancer, demanding high precision to target tumors effectively while minimizing damage to surrounding healthy tissues. This research enhances the precision and safety of radiosurgery using an advanced Robotic Patient Positioning System (PPS). The study addresses several key challenges, including precise radiation targeting, patient fixation, and the integration of a patient positioning bed with six degrees of freedom. Our primary research questions focus on achieving 0.1 mm accuracy in patient positioning, developing solutions to overcome mechanical backlash, implementing multi-layered safety protocols in both hardware and software, and reducing radiation exposure to healthy tissues. Through detailed kinematics studies, advanced motion control strategies, and robust safety protocols, our innovative system aims to significantly improve the accuracy and reliability of radiosurgery. The research employs a comprehensive approach, starting with kinematic model development and validation to ensure precise calculations of bed movements. Advanced algorithms address potential mechanical issues such as backlash. The dual-loop control systems enhance motor movement precision, ensuring sub-millimeter accuracy required for effective radiosurgery. Safety is paramount in this research. Multi-layered safety protocols monitor and control the system in real-time, integrating hardware and software safety measures. The system incorporates real-time monitoring using high-resolution tracking to continuously verify patient position and orientation. The findings demonstrate that integrating the patient positioning bed as a subsystem achieves the desired precision and stability for effective treatment. Additionally, multi-layered safety protocols ensure accuracy enhancements do not compromise timing and efficiency. The advanced safety measures significantly reduce the risk of radiation exposure to healthy tissues, minimizing side effects. In conclusion, this state-of-the-art robotic positioning system represents a significant advancement in radiosurgery, offering improved outcomes and reduced side effects for patients undergoing brain cancer treatment. This research provides a novel approach to enhancing the precision and safety of radiosurgery, setting a new standard for future developments in this field.Tétel Szabadon hozzáférhető Advanced Motion Control In Robotic Patient Positioning System For Brain Cancer Radiosurgery(2024-06-12) Saadah, Alaa; Husi, Géza; Informatikai Tudományok Doktori Iskola; Műszaki KarRadiosurgery is essential in treating brain cancer, demanding high precision to target tumors effectively while minimizing damage to surrounding healthy tissues. This research enhances the precision and safety of radiosurgery using an advanced Robotic Patient Positioning System (PPS). The study addresses several key challenges, including precise radiation targeting, patient fixation, and the integration of a patient positioning bed with six degrees of freedom. Our primary research questions focus on achieving 0.1 mm accuracy in patient positioning, developing solutions to overcome mechanical backlash, implementing multi-layered safety protocols in both hardware and software, and reducing radiation exposure to healthy tissues. Through detailed kinematics studies, advanced motion control strategies, and robust safety protocols, our innovative system aims to significantly improve the accuracy and reliability of radiosurgery. The research employs a comprehensive approach, starting with kinematic model development and validation to ensure precise calculations of bed movements. Advanced algorithms address potential mechanical issues such as backlash. The dual-loop control systems enhance motor movement precision, ensuring sub-millimeter accuracy required for effective radiosurgery.\\ Safety is paramount in this research. Multi-layered safety protocols monitor and control the system in real-time, integrating hardware and software safety measures. The system incorporates real-time monitoring using high-resolution tracking to continuously verify patient position and orientation. The findings demonstrate that integrating the patient positioning bed as a subsystem achieves the desired precision and stability for effective treatment. Additionally, multi-layered safety protocols ensure accuracy enhancements do not compromise timing and efficiency. The advanced safety measures significantly reduce the risk of radiation exposure to healthy tissues, minimizing side effects. In conclusion, this state-of-the-art robotic positioning system represents a significant advancement in radiosurgery, offering improved outcomes and reduced side effects for patients undergoing brain cancer treatment. This research provides a novel approach to enhancing the precision and safety of radiosurgery, setting a new standard for future developments in this field.Tétel Szabadon hozzáférhető Computing The Kinematics Study of a 6 DOF Industrial Manipulator Prototype By Matlab(2024-03-20) Saadah, Alaa; Abdulkareem, Husam; Husi, GézaSince the mechanical parts in the robot are designed to do the movement, studying and analyzing the motion considered a primary issue that should be taken into consider when studying and designing the robot. In this research 6-DOF sample of the industrial manipulator based on ABB IRB 4400 model had been studied. The mathematical model of manipulator is established by DH (Denavait Hartenberg) method. The forward kinematics was done using DH Parameters in order to get the final transformation matrix. The inverse kinematics was done using geometrical and analytical methods in order to get the end effector final position and direction by calculate Euler angles values. Finally, the forward and inverse kinematics equations were computing by MATLAB to get angles, end effector, position, direction and Euler angles values. The kinematics study and the arm movement’s equations were compered with the practical measurements to make sure it fulfills the desired purpose.Tétel Szabadon hozzáférhető Computing The Kinematics Study of a 6 DOF Industrial Manipulator Prototype by Matlab(2020) Saadah, Alaa; Neamah, Husam A.; Husi, GézaTétel Szabadon hozzáférhető Correction: Saadah et al. Developing Robust Safety Protocols for Radiosurgery within Patient Positioning System Framework. Machines 2024, 12, 106(2025) Saadah, Alaa; Fadgyas, László; Medlin, Donald; Saud, Jad; Henderson, Jason; Koroknai, Tibor; Koroknai, Máté; Menyhárt, Levente; Takács, Dávid; Pankó, Péter; Zheng, Xiao Ran; Takács, Endre; Husi, GézaTétel Szabadon hozzáférhető Developing Robust Safety Protocols for Radiosurgery within Patient Positioning System Framework(2024) Saadah, Alaa; Medlin, Donald; Saud, Jad; Menyhárt, Levente; Zheng, Xiao Ran; Husi, GézaTétel Szabadon hozzáférhető Emergency Position Recovery Using Forward Kinematics in Robotic Patient Positioning Systems for Radiosurgery(2025) Saadah, Alaa; Fadgyas, László; Medlin, Donald; Saud, Jad; Henderson, Jason; Koroknai, Tibor; Koroknai, Máté; Takács, Dávid; Pankó, Péter; Zheng, Xiao Ran; Takács, Endre; Husi, GézaTétel Szabadon hozzáférhető Hat szabadságfokos robotkarprototípus-modellezés Matlab által(2021) Saadah, Alaa; Husi, GézaTétel Szabadon hozzáférhető Kuka KR5 arc Welding Industrial Manipulator Workspace Modelling Based on Kinematics Study(2021) Saadah, Alaa; Husi, GézaTétel Szabadon hozzáférhető Six DOF Robotic Arm Prototype Modelling By Matlab(2021) Saadah, Alaa; Husi, Géza