Master Degree / Yüksek Lisans Tezleri

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

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Institution Author: search.filters.institutionAuthor.Yaşır, AbdullahSubject: search.filters.subject.Parallel manipulators

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  • 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.