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Özkan Bebek

Dr. Bebek received his B.S. degree in mechanical engineering from the Middle East Technical University in 2001, M.S. degree in mechatronics from Sabanci University in 2003, and Ph.D. degree in systems and control engineering from Case Western Reserve University, Cleveland, OH, USA, in 2008. 

Before joining Ozyegin University he was a senior research associate at the Medical Robotics and Computer Integrated Surgery Lab at Case Western Reserve University, where he worked on robotic systems for beating heart surgery and small animal biopsies as well as a personal navigation system using inertial measurement units and pressure sensors. 

Dr. Bebek is one of the directors of OzU Robotics Laboratory
His research interests include medical roboticsmechatronics,biomedical measurementcontrol systems, and haptics.

Research

Please follow the links for brief descriptions

Development of a Medical Robotics System for Image Guided Needle Operations
Görüntü Yönlendirmeli İğneli Müdahaleler İçin Bir Tıbbi Robotik Sistem Geliştirilmesi

Development of a Robotic Surgery System for Beating Heart Surgery

Development of Minimally Invasive Steerable Active Catheter with Position Feedback

Development of Low Emission Diesel Engine Components
Düşük Emisyonlu Dizel Motorları için Sistem Tasarımı

OzU Rover Team – Planetary Rovers
OzU Rover Takımı – Gezegen Gezginleri

Past Research Projects

Enerji Verimli LED Aydınlatma Teknolojileri Araştırma, Geliştirme, Eğitim ve Uygulama Laboratuvarı (EVATEG), Supported by: İSTKA-İstanbul Kalkınma Ajansı

You may also check out my Google Scholar page.

Journal Articles

  1. M. Kaya, E. Şenel, A. Ahmad, and O. Bebek, “Visual Needle Tip Tracking in 2D US Guided Robotic Interventions”, Mechatronics, vol. 57, February 2019, pp. 129-139. Full Article
  2. Q. Guo, O. Bebek, M. C. Cavusoglu, C. Mastrangelo, and D. J. Young “Personal Inertial Navigation System Assisted by MEMS Ground Reaction Sensor Array and Interface ASIC for GPS-Denied Environment”. IEEE Journal of Solid State Circuits, vol. 53, no. 11, November 2018, pp. 3039-3049. Abstract
  3. A. Ahmad and Ö. Bebek, “Özyeğin Biopsy Robot: System integration architecture and motion compensation of moving target”, Turkish Journal of Electrical Engineering & Computer Sciences, vol. 26, no. 03, pp. 1651-1661, June 2018. Full Article PDF
  4. B. Balcı, M. C. Yıldırım, and Ö. Bebek, “Mars Gezgini Prototipi Merih-2”, Gazi Politeknik Dergisi, vol. 21, no. 4, pp. 875-885, December 2018. Full Article PDF 
  5. A. Ahmad, S. O. Orhan, M. C. Yildirim, and O. Bebek, “Development and 3D Spatial Calibration of a Parallel Robot for Percutaneous Needle Procedures with 2D Ultrasound Guidance,” Journal of Medical Robotics Research, vol. 02 no. 04, 2017, pp. 17500076. Abstract
  6. Towards Active Tracking of Beating Heart Motion in the Presence of Arrhythmia for Robotic Assisted Beating Heart Surgery, E. E. Tuna, J. H. Karimov, T. Liu, Ö. Bebek, K. Fukamachi, and M. C. Cavusoglu, PLoS ONE 9(7): e102877, July 21, 2014. [Full Article]
  7. Design of a Parallel Robot for Needle Based Interventions on Small Animals, Ozkan Bebek, Myung J. Hwang, and M. Cenk Cavusoglu, In the IEEE/ASME Transactions on Mechatronics, vol. 18, no. 1, pp. 62-73, February 2013. Abstract
  8. Heart Motion Prediction Based on Adaptive Estimation Algorithms for Robotic Assisted Beating Heart Surgery, E. Erdem Tuna, Timothy J. Franke, Ozkan Bebek, Akira Shiose, Kiyotaka Fukamachi, M. Cenk Cavusoglu, In the IEEE Transactions on Robotics, vol. 29, no. 1, pp. 261-276, February 2013. Abstract
  9. Personal Navigation via High-Resolution-Gait-Corrected Inertial Measurement Units, Ozkan Bebek, Michael A. Suster, Srihari Rajgopal, Michael J. Fu, Xuemei Huang, M. Cenk Cavusoglu, Darrin J. Young, Mehran Mehregany, Antonie J. (Ton) van den Bogert, and Carlos H. Mastrangelo, In the IEEE Transactions on Instrumentation and Measurement, vol. 59, no. 11, pp. 3018-3027, November 2010. Abstract
  10. Whisker-like Position Sensor for Measuring Physiological Motion, Ozkan Bebek and M. Cenk Cavusoglu, In the IEEE/ASME Transactions on Mechatronics, vol. 13, no. 5, pp. 538-547, October 2008.Abstract
  11. Intelligent Control Algorithms for Robotic Assisted Beating Heart Surgery, Ozkan Bebek and M. Cenk Cavusoglu, In the IEEE Transactions on Robotics, vol. 23, no. 3, pp. 468-480, June 2007. Abstract

Book Chapter

  1. Towards the Development of a Robotic System for Beating Heart Surgery, Ozkan Bebek and M. Cenk Cavusoglu, In Surgical Robotics – System Applications and Visions, Springer, December 2010, ISBN 9781441911254, pp. 525-556. About the book  

Conference Papers

  1. Improving the Safety of Medical Robotic Systems, A. Dibekci and O. Bebek, The 7th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics (BIOROB), August 26-29, 2018, Enschede, The Netherlands, pp. 73-78. Abstract
  2. Sliding Mode Control of An Electromechanical Solenoid Actuator For Soft Landing, M. P. Kuntuz, M. S. Qureshi, and O. Bebek, The 23rd International Conference on Methods and Models in Automation and Robotics (MMAR), August 27-30, 2018, Miedzyzdroje, Poland. Abstract
  3. Performance Evaluation Of Sliding-Mode Approaches For Tracking The Motion Of The Solenoid Actuators, M. S. Qureshi, M. P. Kuntuz, and O. Bebek, In proceedings of International Conference on Progresses In Automotive Technologies (ICPAT), May 10-12, 2018, Istanbul, Turkey, pp. 4–14. ISBN: 978-605-9546-11-9
  4. Personal inertial navigation system employing MEMS wearable ground reaction sensor array and interface ASIC achieving a position accuracy of 5.5m over 3km walking distance without GPS, Qingbo Guo, William Deng, Ozkan Bebek, M. Cenk Cavusoglu, Carlos Mastrangelo, Darrin Young, Presented at the IEEE International Solid – State Circuits Conference (ISSCC), Feb 11-15, 2018, pp. 180-182 , San Francisco, CA, USA. Abstract
  5. Electromagnetic and Dynamic Analysis of Solenoid Actuator to Reduce the Closing Time, A. Yagci, M.P. Kuntuz, and O. Bebek, Presented at the 9th Ankara International Aerospace Conference (AIAC), September 20-22, 2017, no: AIAC-2017-187, METU, Ankara, Turkey.
  6. Visual Tracking of Multiple Moving Targets in 2D Ultrasound Guided Robotic Percutaneous Interventions, M. Kaya, E. Senel, A. Ahmad, and O. Bebek, Presented at the IEEE International Conference on Robotics and Automation (ICRA), May 29 – June 3, 2017, pp. 1996-2002, Singapore. Abstract
  7. Development of an Antagonistically Actuated Smart Joint, Materials Science Forum. A. Vahidyeganeh, G. Simsek, S. Jabeen, O. Bebek, G.G. Yapici, Presented at the 5th International Conference on Manufacturing Engineering and Process (ICMEP, May 25-27, 2016, Istanbul, Turkey), 887:104-107, March 2017.
  8. Visual Tracking of Biopsy Needles in 2D Ultrasound Images, M. Kaya, E. Senel, A. Ahmad, and O. Bebek, Presented at the IEEE International Conference on Robotics and Automation (ICRA), May 31 – June 7, 2016, pp. 4386-4391, Stockholm, Sweden. Abstract
  9. Discrete-Time Integral Sliding Mode Control of a Smart Joint for Minimally Invasive Surgeries, S. Jabeen, A. Vahidyeganeh, G. Simsek, G. Yapici, K. Abidi, O. Bebek, Presented at the 6th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob), June 26-29, 2016, pp. 389–394, UTown, Singapore. Abstract 
  10. Design and modeling of a parallel robot for ultrasound guided percutaneous needle interventions, S. O. Orhan; M. C. Yildirim; O. Bebek, In proceedings of 41st Annual Conference of the IEEE Industrial Electronics Society (IECON 2015), Yokohama, Japan, November 9-12, 2015, pp. 5002-5007. Abstract 
  11. Environmental Force Estimation for a Robotic Hand: Compliant Contact Detection, O. Kaya, M. C. Yildirim, N. Kuzuluk, E. Cicek, E. Oztop, O. Bebek, B. Ugurlu, 2015 IEEE-RAS 15th International Conference on Humanoid Robots, November 3-5, 2015, Seoul Korea, pp. 791–796. Abstract 
  12. Calibration of 2D Ultrasound in 3D Space for Robotic Biopsies, A. Ahmad, M. C. Cavusoglu, and O. Bebek, In Proceedings of the 17th International Conference on Advanced Robotics (ICAR), pp. 40-46, July 27-31, 2015, Istanbul, Turkey. Abstract
  13. Real-time Needle Tip Localization in 2D Ultrasound Images for Robotic Biopsies, M. Kaya, E. Senel, A. Ahmad, O. Orhan, and O. Bebek, In Proceedings of the 17th International Conference on Advanced Robotics (ICAR), pp. 47-52, July 27-31, 2015, Istanbul, Turkey. Abstract
  14. A Personal Navigation System Using MEMS-Based High-Density Ground Reaction Sensor Array and Inertial Measurement Unit, Q. Guo, O. Bebek, M. C. Cavusoglu, C. Mastrangelo, and D. J. Young, In Proceedings of the 18th International Conference on Transducers, pp. 1077-1080, June 21-25, 2015, Anchorage, Alaska. Abstract
  15. Gabor Filter Based Localization of Needles in Ultrasound Guided Robotic Interventions, Mert Kaya and Ozkan Bebek, In Proceedings of 2014 IEEE International Conference on Imaging Systems and Techniques, October 14-17, 2014, Santorini, Greece, pp. 112-117. Abstract 
  16. An active brace for controlled transdermal drug delivery for adjustable physical therapy, U. Levent Erol, Ozkan Bebek*, Ayse Karagoz, and Bahar Basim, In Proceedings of the 36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), Chicago, IL, USA, August 26-30, 2014, pp. 2149-2152. Abstract
  17. Development of 3-D Chemical Mechanical Polishing Process for Nanostructuring of Bioimplant Surfaces, Z. Ozdemir, O. Orhan, O. Bebek, and B. Başım, 225th ECS Meeting, May 11-­16, 2014, Orlando, FL. Abstract
  18. Needle Localization Using Gabor Filtering in 2D Ultrasound Images, Mert Kaya and Ozkan Bebek, In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), May 31 – June 7, 2014, Hong Kong, China, pp. 4881–4886.
  19. Personal Navigation via Shoe Mounted Inertial Measurement Units, O. Bebek, M. A. Suster, S. Rajgopal, M. J. Fu, X. Huang, M. C. Cavusoglu, D. J. Young, M. Mehregany, A. J. van den Bogert, and C. H. Mastrangelo, In proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Taipei, Taiwan, pp. 1052-1058, October 18-22, 2010. Abstract
  20. Kinematic Calibration of a Parallel Robot for Small Animal Biopsies, Myun Joong Hwang, Ozkan Bebek, Fan Liang, Baowei Fei and M. Cenk Cavusoglu, In proceedings of the IEEE/RSJ 2009 International Conference on Intelligent Robots and Systems (IROS), St. Louis, MO, USA, pp. 4104-4109, October 11-15, 2009. Abstract
  21. Design of a Small Animal Biopsy Robot, Ozkan Bebek, Myun Joong Hwang, Baowei Fei and M. Cenk Cavusoglu, In Proceedings of the 30th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), Vancouver, BC, Canada, pp. 5601-5604, August 20-25, 2008. Abstract
  22. Prediction of Heartbeat Motion with a Generalized Adaptive Filter, Timothy J. Franke, Ozkan Bebek and M. Cenk Cavusoglu, In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Pasadena, CA, USA, pp. 2916-2921, May 19-23, 2008.
  23. Improved Prediction of Heart Motion Using an Adaptive Filter for Robot Assisted Beating Heart Surgery, Timothy J. Franke, Ozkan Bebek and M. Cenk Cavusoglu, In Proceedings of the IEEE/RSJ 2007 International Conference on Intelligent Robots and Systems (IROS), San Diego, CA, USA, pp. 509-515, October 29 – November 2, 2007. Abstract
  24. Whisker Sensor Design for Three Dimensional Position Measurement in Robotic Assisted Beating Heart Surgery, Ozkan Bebek, M. Cenk Cavusoglu, In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Rome, Italy, pp. 225-231, April 10-14, 2007. Abstract 
  25. Model Based Control Algorithms for Robotic Assisted Beating Heart Surgery, Ozkan Bebek, M. Cenk Cavusoglu, In Proceedings of the 28th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), New York, New York, USA, pp. 823-828, 30 August – 3 September, 2006. Abstract
  26. Predictive Control Algorithms Using Biological Signals for Active Relative Motion Canceling in Robotic Assisted Heart Surgery, Ozkan Bebek, M. Cenk Cavusoglu, In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Orlando, Florida, USA, pp. 237-244, May 15-19, 2006. Abstract 
  27. A Gait Adaptation Scheme for Biped Walking Robots, Ozkan Bebek, Kemalettin Erbatur, In Proceedings of the 8th IEEE International Workshop on Advanced Motion Control (AMC), Kawasaki, Japan, pp. 409-414, March 25-28, 2004. Abstract
  28. Adaptive Fuzzy System for Tuning Biped Robot Gate Parameters, Ozkan Bebek, Kemalettin Erbatur, FIRA Robot World Congress 2003, Vienna, Austria, pp. 240-246, October 1-3, 2003.
  29. A Fuzzy System for Gait Adaptation of Biped Walking Robots, Ozkan Bebek, Kemalettin Erbatur, In Proceedings of IEEE Conference on Control Applications (CCA), Istanbul, Turkey, Vol. 1, pp. 669-673, June 23-25, 2003. Abstract

Turkish Conference Papers

  1. Tepki Kuvveti Gözleyici Bazlı Kuvvet Kontrolünün Yüksek Ataletli Robot Eklemlerinde Deneysel Olarak Sınanması. M.C. Yıldırım, O. Ersoy, Ö. Bebek, B. Uğurlu, In Proc. of Otomatik Kontrol Ulusal Toplantısı (TOK), Yildiz Teknik Üniversitesi, Davutpaşa Yerleşkesi, Istanbul, 21-23 Eylül 2017, pp. 342–346.
  2. Seri Elastik Eyleyiciler için Gürbüz Bir Tork Kontrolcüsü: Model Öngörümlü Kontrol ile Bozunum Gözleyici (A Robust Torque Controller for Series Elastic Actuators: Model Predictive Control with a Disturbance Observer), T. K. Tasooij, Ö. Bebek, B. Uğurlu, In Proc. of Otomatik Kontrol Ulusal Toplantısı (TOK), Yildiz Teknik Üniversitesi, Davutpaşa Yerleşkesi, Istanbul, 21-23 Eylül 2017, pp. 398–402.
  3. Bir Mars Gezgininin Mekanik Tasarımı, G. S. Aydoğdu, A. Yaşar, E. K. Çiçek, C. Evyapan, B. Özgür, A. Yıldırım, M. C. Yıldırım, O. Bebek, Presented at the Türkiye Robotbilim Konferansı (TORK), Pendik, İstanbul, November 2-3, 2016.
  4. Bir Mars Gezgininin Denetimi için Elektronik Tasarım, B. Balcı, O. Dalgıç, D. Kurt, A. Kılıç, B. Sunal, M.C. Yıldırım, O. Bebek, Presented at the Türkiye Robotbilim Konferansı (TORK), Pendik, İstanbul, November 2-3, 2016.
  5. Özyeğin Biopsy Robot: System Integration, Active Relative Motion Compensation”, A. Ahmad and O. Bebek, Presented at the Türkiye Robotbilim Konferansı (TORK), Pendik, İstanbul, November 2-3, 2016.
  6. Visual Tracking of Targets in 2D Ultrasound Assisted Robotic Biopsies, A. Ahmad, M. Kaya, and O. Bebek, Presented at the Türkiye Robotbilim Konferansı (TORK), Pendik, İstanbul, November 2-3, 2016.
  7. Optik Takip Sistemlerinde Kamera Konumlarının Hassasiyet ile İlişkisinin Araştırılması”, O. D. Yirmibeşoğlu and Ö. Bebek, Presented at the Türkiye Otonom Robotlar Konferansı (ToRK), Submission 40, Ankara, November 6-7, 2014.
  8. İnsan Üstünde İğneli Müdahaleler için Paralel Robot Dizaynı, S.O. Orhan, M. C. Çavuşoğlu, and Ö. Bebek, Presented at the Türkiye Otonom Robotlar Konferansı (TORK), Submission 48, Ankara, November 6-7, 2014.
  9. İki Bacaklı Yürüyen Robotlarda Bulanık Mantıklı Yürüyüş Biçimi Uyarlaması, Özkan Bebek, Kemalettin Erbatur, Okan Kurt, In Proceedings of Otomatik Kontrol Ulusal Toplantısı (TOK), İstanbul, Turkey, pp. 231-236, June 2-3, 2005.
  10. Zamanlama Kayışlı Servo Sisteminin Değişken Yapılı Sistem Denetimi (VSS Control of Timing-Belt Servosystem), Özkan Bebek, Murat Günay, Asıf Şabanoviç, Gökhan Göktuğ, In Proceedings of National Conference on Electrical and Electronics Engineering (ELECO) , Bursa, Turkey, pp. 202-206, December 18-22, 2002.

Research Posters and Technical Report

  1. Robotic System for Small Animal Biopsy, Myun J. Hwang, Ozkan Bebek, Fan Liang, Baowei Fei, and M. Cenk Cavusoglu, Research ShowCASE 2009, Case Western Reserve University, April 16, 2009. 
  2. Prediction of Heartbeat Motion with a Generalized Adaptive Filter, Timothy J. Franke, Ozkan Bebek, and M. Cenk Cavusoglu, Research ShowCASE 2008, Case Western Reserve University, April 16-17, 2008. 
  3. Whisker Sensor Design for Position Measurement in Robotic-Assisted Surgery, Ozkan Bebek, M. Cenk Cavusoglu, Research ShowCASE 2007, Case Western Reserve University, April 11-12, 2007. 
  4. Intelligent Control Algorithms for Robotic Assisted Beating Heart Surgery, Ozkan Bebek, M. Cenk Cavusoglu, Research ShowCASE 2006, Case Western Reserve University, April 5-6, 2006. 
  5. Predictive Tracking for Active Relative Motion Cancellation in Robotic Assisted CABG Surgery, Jason D. Rotella, Ozkan Bebek, M. Cenk Cavusoglu, Research ShowCASE 2005, Case Western Reserve University, April 6-7, 2005.(Award: Outstanding Graduate Student Research Poster) 
  6. Kinematics and Dynamics of Small Animal Biopsy Robot (SABiR), Myun J. Hwang, Ozkan Bebek, and M. Cenk Cavusoglu. Technical Report, Case Western Reserve University, September 15, 2009. 

Theses

  1. Robotic-Assisted Beating Heart Surgery, Özkan Bebek, Dissertation Advisor: M. Cenk Çavuşoğlu, Ph.D. Dissertation, Case Western Reserve University, May 18, 2008 (Defense: January 23, 2008). OhioLINK Electronic Theses and Dissertations Center  
  2. A Study on Automatic Gait Parameter Tuning for Biped Walking Robots, Özkan Bebek, Thesis Advisor: Kemalettin Erbatur, Thesis Co-advisor: Asif Sabanovic, M.S. Thesis. Sabanci University, Istanbul, July 19, 2003 (Defense: June 27, 2003). Sabanci University Research Database 

Özyeğin University Robotics Laboratory 

Çekmeköy Campus, Nişantepe District,
Orman Street, 34794 Çekmeköy – İSTANBUL
E-mail: ozkan.bebekozyegin.edu.tr