Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection
Permanent URI for this collectionhttps://hdl.handle.net/11147/7148
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Article Citation - WoS: 6Citation - Scopus: 7Human-Robot Interfaces of the Neuroboscope: a Minimally Invasive Endoscopic Pituitary Tumor Surgery Robotic Assistance System(ASME, 2021) Dede, Mehmet İsmet Can; Kiper, Gökhan; Ayav, Tolga; Özdemirel, Barbaros; Tatlıcıoğlu, Enver; Hanalioğlu, Şahin; Işıkay, İlkayEndoscopic endonasal surgery is a commonly practiced minimally invasive neurosurgical operation for the treatment of a wide range of skull base pathologies including pituitary tumors. A common shortcoming of this surgery is the necessity of a third hand when the endoscope has to be handled to allow active use of both hands of the main surgeon. The robot surgery assistant NeuRoboScope system has been developed to take over the endoscope from the main surgeon's hand while providing the surgeon with the necessary means of controlling the location and direction of the endoscope. One of the main novelties of the NeuRoboScope system is its human-robot interface designs which regulate and facilitate the interaction between the surgeon and the robot assistant. The human-robot interaction design of the NeuRoboScope system is investigated in two domains: direct physical interaction (DPI) and master-slave teleoperation (MST). The user study indicating the learning curve and ease of use of the MST is given and this paper is concluded via providing the reader with an outlook of possible new human-robot interfaces for the robot assisted surgery systems.Book Part Citation - WoS: 1Citation - Scopus: 2Viscoelastic Modeling of Human Nasal Tissues With a Mobile Measurement Device(Springer, 2019) Işıtman, Oğulcan; Ayit, Orhan; Vardarlı, Eren; Hanalioğlu, Şahin; Işıkay, İlkay; Berker, Mustafa; Dede, Mehmet İsmet CanModeling the dynamic of tool-tissue interaction for the robotic minimally invasive surgeries is one of the main issues for designing appropriate robot controllers. A mobile measurement device is produced in order to model some nasal tissues of a human. This mobile device is a hand-held one which measures the applied moments and relative angular displacements about a fixed pivot point. The ex-vivo measurements are realized by surgeons on a relatively fresh human cadaver head. The tip of the nose and the nasal concha are the two tissues that are investigated. In this study, five different viscoelastic models are considered; Elastic, Kelvin- Voight, Kelvin-Boltzmann, Maxwell and Hunt-Crossley. The results are evaluated and cross-validated on each data set. Hunt-Crossley and Kelvin-Boltzmann models provided the minimum root-mean-square (RMS) error among the other models.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.