Master Degree / Yüksek Lisans Tezleri

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

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Subject: search.filters.subject.Inertial measurement units

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  • Master Thesis
    Teleoperation System Desing of a Robot Assisted Endoscopic Pituitary Surgery
    (Izmir Institute of Technology, 2018) Ateş, Gizem; Dede, Mehmet İsmet Can; Ateş, Gizem; Dede, Mehmet İsmet Can; 03.10. Department of Mechanical Engineering; 03.04. Department of Computer Engineering; 03. Faculty of Engineering; 01. Izmir Institute of Technology
    Teleoperation, also named telerobotics, is defined as controlling a robot over a distance by a remote controller. In a teleoperation setting, the human operator controls the master system(s) to the slave system(s) via wired or wireless communication channel. Genarally, in bilateral teleoperation, the human operator is informed about the slave environment via feedback signals (haptic, visual or audio) sent back from the slave environment. Commonly, teleoperated systems are more preferable in hazardous environments to protect the human operator; neverthless, there many other fields where the teleoperated systems are employed for various tasks. one of these areas, where teleoperation technology is becoming more popular,is the medical area. Telesurgical equipments allow more precise performance than a humman can achieve especially in minimally invasive surgeries. The purpose of this thesisis to develop a novel teleoperation system architecturewhich will be used to support the endoscopic pituitary surgery procedures which are classified under minimally invasive surgeries. Even though, the surgeon has only two hands, the proposed system aims to enable the surgeon to operate with three different surgical tools simultaneously including the endescope. he type of work is categorized under collaborative surgical robots, which incorporates a teleoperation system setup. he master control unit is a ring-shaped remote controller which consists of an inertial measurement unit and a wireless module. Surgeon wears the master system during the operation while holding a surgical tool such as the aspirator, and delivers the voluntary commands to the slave system by triggering a food pedal. The slave is the endescope holder robot which is a 8 degrees-of-freedom manipulator whose 3 degrees-of-freedom are active and the rest of them are passive. here is also an indicator panel which is used to provide visual feedback to the surgeon indicating the states of the surgey and excessive force application on the tissue.
  • Master Thesis
    Inertial Measurement Units for Motion Control of Surgical Endoscopic Robot
    (Izmir Institute of Technology, 2018) Erat, Sercan; Özdemirel, Barbaros; Özdemirel, Barbaros; 03.05. Department of Electrical and Electronics Engineering; 03. Faculty of Engineering; 01. Izmir Institute of Technology
    Inertial measurement units (IMUs) are preferable over other electromechanical user interfaces for robotics applications that require hands-free operation. In case of a surgical endoscopic robot, one of the requirements is a user interface that gives the surgeon ability to control the camera position while holding other surgical tools. An IMU used for this purpose should provide precise position information in a small motion range restricted by a few degrees of rotation. In this study, major difficulties in establishing a user interface between an IMU and a surgical robotic arm are identified, and the necessary solutions for implementation of such an interface are presented. The study focuses on the IMU devices that combine accelerometers and gyroscopes based on micro-electromechanical systems (MEMS) technology because of their smaller size and low power requirement. Working principles and the calibration techniques of MEMS IMUs are reviewed. Three fusion algorithms that combine accelerometer and gyroscope data to determine the orientation of an object in three-dimensional space are implemented. Performance of these fusion algorithms and critical specifications of MEMS IMUs from three different manufacturers are evaluated by monitoring sensor data through a wireless interface. A graphical evaluation software was developed to test position mapping methods by steering field of view of a hypothetical camera towards randomly determined targets on the computer screen. Effectiveness of the position mapping methods was evaluated by several users by comparing the total angular displacement and the elapsed time required to reach a number of simulated targets.