Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection
Permanent URI for this collectionhttps://hdl.handle.net/11147/7148
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Book Part Citation - Scopus: 2Improved Usability of a Low-Cost 5-Dof Haptic Device for Robotic Teleoperation(Springer, 2019) Ateş, Gizem; Brunetti, Luca; Bonfè, MarcelloThe paper describes the design and application of a low-cost haptic device with five degrees of freedom (5-DOF), all of which are fully actuated for force/torque haptic display. The device is realized using two Novint Falcons, commercially available haptic devices with only translational DOF. The paper focus on the practical issues related to the use of such a haptic device as a robotic teleoperation master and provides solutions to improve its usability during an application inspired by surgical robotics, namely the teleoperated insertion of a needle into a soft tissue. Experiments demonstrate the usefulness of force feedback and virtual fixtures on both translation and orientation degrees of freedom. © 2019, CISM International Centre for Mechanical Sciences.Book Part Citation - WoS: 3Citation - Scopus: 5Design of a Teleoperation Scheme With a Wearable Master for Minimally Invasive Surgery(Springer, 2019) Ateş, Gizem; Majani, Ronny; Dede, Mehmet İsmet CanMinimally invasive surgery is increasingly being preferred over conventional surgery, however many problems still persist in longer surgeries such as pituitary surgeries, where surgeons are still required to hold an endoscope in their hand for prolonged periods of time. Many modern approaches have recently been proposed in literature to reduce the surgeon’s effort. In this paper we extended upon these previous attempts and presented a promising solution; a real time teleoperation scheme with 3 different modes of operation, composed of a wearable ring system that captures and transmits voluntary hand motions over a wireless connection to a slave system. Accordingly, this slave system processes the received data to generate velocity demands for the robot endoscope controller. Finally, the feasibility of the proposed modes of operation are demonstrated and compared by measuring their learning curve and effort by running a set of training simulations on human subjects.Conference Object Citation - WoS: 3Citation - Scopus: 4Unilateral Teleoperation Design for a Robotic Endoscopic Pituitary Surgery System(Springer, 2018) Dede, Mehmet İsmet Can; Maaroof, Omar Waleed Najm; Ateş, Gizem; Berker, Mustafa; Işıkay, İlkay; Hanalioğlu, ŞahinThe aim of this study is to develop a teleoperation system which will be used to support the endoscopic pituitary surgery procedures. The proposed system aims to enable the surgeon to operate with three different operation tools (one of them is the endoscope) simultaneously. By this way, it is expected that the productivity of the surgical operation will be improved and the duration of the operation will be shortened. In the proposed system, a main control unit that can be attached to any of the surgical tools that are used in the operation (other than the endoscope) will be developed to capture the motion of the surgeon’s hand motion as demanded by the surgeon, to process the captured motion and to send it to the robot that handles the endoscope. In this way, the endoscope will be directed simultaneously by the surgeon throughout the operation while he/she is using the other surgical tools with his/her two hands. In this paper, the study to determine the type and processing of information that is sent from the surgeon’s side to the endoscope robot is presented.