YILMAZ, TUĞRUL

Profile URL
https://hdl.handle.net/11147/16584
Name Variants
Job Title
Email Address
tugrulyilmaz@iyte.edu.tr
tugrulyyilmaz@gmail.com
Main Affiliation
01. Izmir Institute of Technology
Status
Website
ORCID ID
0000-0002-3853-8020
Scopus Author ID
Turkish CoHE Profile ID
Google Scholar ID
WoS Researcher ID

Sustainable Development Goals

NO POVERTY1
NO POVERTY
0
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ZERO HUNGER2
ZERO HUNGER
0
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GOOD HEALTH AND WELL-BEING3
GOOD HEALTH AND WELL-BEING
0
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QUALITY EDUCATION4
QUALITY EDUCATION
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GENDER EQUALITY5
GENDER EQUALITY
0
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CLEAN WATER AND SANITATION6
CLEAN WATER AND SANITATION
0
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AFFORDABLE AND CLEAN ENERGY7
AFFORDABLE AND CLEAN ENERGY
0
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DECENT WORK AND ECONOMIC GROWTH8
DECENT WORK AND ECONOMIC GROWTH
0
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INDUSTRY, INNOVATION AND INFRASTRUCTURE9
INDUSTRY, INNOVATION AND INFRASTRUCTURE
1
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REDUCED INEQUALITIES10
REDUCED INEQUALITIES
0
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SUSTAINABLE CITIES AND COMMUNITIES11
SUSTAINABLE CITIES AND COMMUNITIES
0
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RESPONSIBLE CONSUMPTION AND PRODUCTION12
RESPONSIBLE CONSUMPTION AND PRODUCTION
0
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CLIMATE ACTION13
CLIMATE ACTION
0
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LIFE BELOW WATER14
LIFE BELOW WATER
0
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LIFE ON LAND15
LIFE ON LAND
0
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PEACE, JUSTICE AND STRONG INSTITUTIONS16
PEACE, JUSTICE AND STRONG INSTITUTIONS
0
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PARTNERSHIPS FOR THE GOALS17
PARTNERSHIPS FOR THE GOALS
0
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This researcher does not have a Scopus ID.
This researcher does not have a WoS ID.

Publication Collaboration

Affiliation Name Count
Izmir Institute of Technology 1
Işık University 1
Yıldız Technical University 1
Boğaziçi University 1
Atatürk University 1
1 / 1
Data obtained from OpenAlex
Scholarly Output

2

Articles

0

Views / Downloads

633/426

Supervised MSc Theses

1

Supervised PhD Theses

0

WoS Citation Count

0

Scopus Citation Count

3

Patents

0

Projects

0

WoS Citations per Publication

0.00

Scopus Citations per Publication

1.50

Open Access Source

2

Supervised Theses

1

JournalCount
Mechanisms and Machine Science1
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Scopus Quartile Distribution

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Scholarly Output Search Results

Now showing 1 - 2 of 2
  • 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.
  • Conference Object
    Citation - Scopus: 3
    Design and Balancing of a Novel 2r1t Manipulator With Remote Center of Motion
    (Springer, 2023) Kiper, Gökhan; YILMAZ, TUĞRUL; 03.10. Department of Mechanical Engineering; 03. Faculty of Engineering; 01. Izmir Institute of Technology
    The paper presents a novel manipulator design to be used as an endoscope holder for endonasal skull base surgeries. The manipulator should provide two rotational and one translational motions for the endoscope, where it should be able to be oriented about and slide along the tip of the nostril of a patient as a pivot point. First, suitable manipulators with remote center motion are investigated. Manipulators with serial and hybrid kinematic structure and redundant manipulators with a passive joint are examined. A serial manipulator with a circular arc as the second rotation axis is chosen for the detailed design. The novelty of the kinematic structure of the manipulator is that the end-effector heave motion is achieved in a tangential direction to the circular arc. The constructional design and counter-mass balancing solution for the manipulator are presented. The total assembly mass is 11.6 kg for navigating an endoscope of 0.44 kg mass.