Master Degree / Yüksek Lisans Tezleri

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

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Author: search.filters.author.Kiper, GökhanSubject: 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) Yılmaz, Tuğrul; Van der Wijk, Volkert; Kiper, Gökhan
    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.
  • Master Thesis
    Development of Kinetostatic Design Methodology for Airplane Flap Mechanisms
    (01. Izmir Institute of Technology, 2022) Arslan, Gökhan; Kiper, Gökhan; Kiper, Gökhan
    The problem focused on this thesis is to minimize the fairing drag of dropped-hinge trailing edge flap mechanism of an aircraft. The background knowledge and literature review about the trailing edge flaps and mechanisms are presented, and two patents are examined. Accordingly, a parametric model for a double circular slotted arc track mechanism with a screw jack drive for a trailing edge flap is presented. This model is used in the kinetostatic design methodology. The methodology is applied for a small aircraft as a case study. The main novelty of this thesis is these model and methodology. According to the results, motor torque requirement for the screw jack is determined. The fairing depth is considerably reduced compared to a dropped hinge type mechanism.
  • Master Thesis
    Design of a 2r1t Mechanism With Remote Center of Motion for Minimally Invasive Transnasal Surgery Applications
    (Izmir Institute of Technology, 2018) Yaşır, Abdullah; Kiper, Gökhan; Dede, Mehmet İsmet Can
    In minimally invasive surgery, use of robotic manipulators is becoming more and more common in order to have more precise operations and better post-operative processes. Such operations are often performed through an incision port (a pivot point) on the patient’s body. Since the manipulator should move about the pivot point, it should have a remote center of motion. In this regard, the main objective of this thesis is designing a 3-dof (degrees-offreedom) surgical robotic arm that is capable of 2R1T (R: rotation, T: translation) motion pattern and is structured as a remote center of motion mechanism for minimally invasive surgery applications. First, the structural synthesis of a 3-dof manipulator with 2R1T motion pattern is performed. The synthesized structures also can be used for any kind of 2R1T-type applications. Then, the manipulators with various kinematic structures are evaluated for a transnasal surgery according to several evaluation criteria such as feasibility of construction for a remote center of motion mechanism, ease of balancing, number of links, structural symmetry, decoupling of the joint inputs and the output motion of the platform and the number of actuators connected to the base. The best option is evaluated as a parallel manipulator with two 1 F0-system and one 1 F0-1 F∞-system leg structures. Afterwards, kinematic analysis of the spatial parallel manipulator is formulated with a simplified kinematic model consisting of three intersecting planes so that dimensional design is done for a desired dexterous workspace. Finally, constructional design is completed and a prototype is manufactured and tested.