Mechanical Engineering / Makina Mühendisliği

Permanent URI for this collectionhttps://hdl.handle.net/11147/4129

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Institution Author: search.filters.institutionAuthor.Yaşır, AbdullahPublication Index: search.filters.publicationIndex.Scopus

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  • Article
    Citation - WoS: 31
    Citation - Scopus: 37
    Kinematic Design of a Non-Parasitic 2r1t Parallel Mechanism With Remote Center of Motion To Be Used in Minimally Invasive Surgery Applications
    (Elsevier Ltd., 2020) Yaşır, Abdullah; Kiper, Gökhan; Dede, Mehmet İsmet Can
    In minimally invasive surgery applications, the use of robotic manipulators is becoming more and more common to enhance the precision of the operations and post-operative processes. Such operations are often performed through an incision port (a pivot point) on the patient's body. Since the end-effector (the handled surgical tool) move about the pivot point, the manipulator has to move about a remote center of motion. In this study, a 3-degrees-of-freedom parallel mechanism with 2R1T (R: rotation, T: translation) remote center of motion capability is presented for minimally invasive surgery applications. First, its kinematic structure is introduced. Then, its kinematic analysis is carried out by using a simplified kinematic model which consists of three intersecting planes. Then the dimensional design is done for the desired workspace and a simulation test is carried out to verify the kinematic formulations. Finally, the prototype of the final design is presented.
  • Conference Object
    Citation - Scopus: 11
    Structural Synthesis of 2r1t Type Mechanisms for Minimally Invasive Surgery Applications
    (Springer Verlag, 2018) Yaşır, Abdullah; Kiper, Gökhan
    Assistive and operative manipulators allow easier and more precise operations for minimally invasive surgery. Such manipulators often have a pivot point at the incision port on the pa-tient’s body, so the manipulator should have a remote center of motion. This study presents the structural synthesis of a non-parasitic 3-dof manipulator with 2R1T motion pattern to be used as a remote center of motion mechanism for minimally invasive surgery applications. The manipulators of various kinematic structure are evaluated considering criteria such as possibility of construction of the mechanism for remote center of motion, ease of dynamic balancing, number of links, structural symmetry, the number of actuators connected to the base and decoupling of the joint inputs and the output motion of the platform.