Master Degree / Yüksek Lisans Tezleri

Permanent URI for this collectionhttps://hdl.handle.net/11147/3008

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Has files: YesSubject: search.filters.subject.Robotics in medicine

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  • Master Thesis
    Evaluating Adoption Factors for Robotic-Assisted Surgery With the Analytical Hierarchical Process
    (01. Izmir Institute of Technology, 2024) Sarıgöl, Işın Sözen; Dindaroğlu, Burak; Başoğlu, Ahmet Nuri
    The objective of this master's dissertation is to evaluate adoption factors for robotic-assisted surgery (RAS) using the Analytical Hierarchy Process (AHP) as its evaluation methodology. Robotic-assisted surgery is used in various surgical fields. It is mainly used as a tool in numerous disciplines' minimally invasive surgery procedures (MIS). Since it has so many different application areas and actors, the determination of its adoption factors and evaluation process of these factors' priorities for surgeons is a highly complex issue that includes multicriteria of decision-making and numerous surgeons. A comprehensive list of these possible adoption factors recognized by conducting an extensive literature review, was picked and chosen. First, we had 310 factors mentioned in the literature that have a potential impact on the adoption process of the RAS. We have reduced these to 20 factors that are categorized under five different main criteria. By this, a unique AHP tree that is this thesis' contribution to the literature was developed. The research data was collected by an online survey from the surgeons of various disciplines working in Türkiye. Our final sample to evaluate priorities consisted of forty-one surgeon responses in total. The evaluation process consists of three steps: analyzing individual-based pairwise comparison matrices, their consistency rations, and their priority vectors. We executed the same workflow for the aggregated analysis for disciplined-based and all aggregation. Results are examined in detail and concluded with insightful interpretations.
  • Master Thesis
    Optimum Design and Analysis of Torsion Spring Used in Series Elastic Actuators for Rehabilitation Robots
    (01. Izmir Institute of Technology, 2021) Erten, Hacer İrem; Artem, Hatice Seçil
    Along with the developing technology, robotic systems have started to take place in areas where there is one-to-one interaction with people, as well as their use in industrial areas. As the robotic system began to take place in daily life, safety and reliability between humans and robots have become a critical issue. In this context, a series elastic actuator has been developed for the aforementioned robotic systems, which has an elastic element placed in series between the motor output and the mechanical output. In this thesis, the torsion spring, as a critical part for the rotary series elastic actuators of rehabilitation robots, which helps support the extension and flexion of the knee joint during physical therapy of individuals with lower extremity disorders, is discussed. First of all, the data required for modeling was produced by making analyses with the design of experiment and finite element method. In line with the design goal of a light, compact, durable and stiff spring, the torsion spring whose topology was determined was modelled using a hybrid method: Neuro-regression approach and cross-validation technique. To minimize the mass and von Mises stress of the torsion spring, the thickness of the spring and the inner corner radius of the flexible leg are taken as the design variables and multi-objective optimization problems are created. The design and optimization of the torsion spring was done with the help of Differential Evolution, Nelder-Mead, Random Search and Simulated Annealing algorithms. By comparing the obtained optimization results with the finite element method and the results in the literature, it has been seen that the model and optimization methods used in the study are reliable and applicable.
  • Master Thesis
    Gravity Compensation of a 2r1t Mechanism With Remote Center of Motion for Minimally Invasive Transnasal Surgery Applications [master Thesis]
    (01. Izmir Institute of Technology, 2021) Aldanmaz, Ataol Behram; Artem, Hatice Seçil; Dede, Mehmet İsmet Can; Artem, Hatice Seçil; Dede, Mehmet İsmet Can
    In this work, gravity balancing of a 2URRR-URR parallel manipulator is issued. The manipulator is designed as an endoscope holder for minimally invasive transnasal pituitary gland surgery application. In the surgery, the endoscope is placed through the nostril of the patient where there is a natural path to the pituitary gland. In case of a motor failure, in order to protect the patient and to ease the control of the manipulator static balancing for this manipulator is worked out, the manipulator prototype is balanced and tested. The parallel manipulator has three legs. The payload mass has been distributed to side legs due to workspace limitations. By using counter-mass for two links in each leg, the center of mass of each leg has been reduced to the proximal link which simplified the balancing problem to balancing of a two degree-of-freedom inverted pendulum. By connecting a zero free length spring to the proximal link the total mass of the leg the manipulator has been kept in static balance in its desired workspace. Simulations show that with the applied design, torque effects on the motors have been reduced by 93.5%. Finally, the balancing solution is applied on the manipulator with active motors and the manipulator has been balanced, the torque values mostly has been decreased where the joint clearance, spring tension adjustments and mechanical constraints has affected the results. With the elimination of the joint clearance, mechanical constraints and rearranging the spring tension the required torque could be minimized.