Master Degree / Yüksek Lisans Tezleri

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Author: search.filters.author.Van der Wijk, VolkertSubject: search.filters.subject.Remote center of motion

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  • Master Thesis
    Design, Production and Tests of an Inherently Balanced Mechanism To Be Used as an Endoscope Holder for Endonasal Skull Base Surgery
    (01. Izmir Institute of Technology, 2023) Kiper, Gökhan; YILMAZ, TUĞRUL; Van der Wijk, Volkert; Kiper, Gökhan; 03.10. Department of Mechanical Engineering; 03. Faculty of Engineering; 01. Izmir Institute of Technology
    Robotic surgery is popular in minimally invasive operations. Given the requirement for the manipulator to operate around the body-entrance point, it must have a remote center of motion. The main aim of the thesis is to design and prototype a surgical robotic arm with 3 degrees of freedom (2 rotation + 1 translation motion pattern) and a remote center of motion to be used as an endoscope holder in minimally invasive surgery. First, a literature review is conducted on robotic surgery, robots used in minimally invasive surgery and mechanisms with remote center of motion. Then, possible kinematic structures are examined and the most suitable one was selected considering the requirements such as balancing compatibility and workspace. While circular tracking arc mechanism is known in the literature, manipulator based on the modified circular tracking arc is novel. Also, gravity compensation of the circular tracking arc is performed. After the gravity-compensation solution for the manipulator is developed and parametrized by considering the workspace, link lengths and geometries were determined and a solid model was developed for detailed construction. Finally, a prototype of the mechanism is manufactured.