Ateş, Gizem
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Ateş, G
Ates, G
Ates, Gizem
Ateş, G.
Ates, G
Ates, Gizem
Ateş, G.
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03.04. Department of Computer Engineering
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Former Staff
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5
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18
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2
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Scholarly Output
6
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0
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6056/3058
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1
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0
WoS Citation Count
6
Scopus Citation Count
11
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1.00
Scopus Citations per Publication
1.83
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6
Supervised Theses
1
| Journal | Count |
|---|---|
| 4. Türkiye Robotbilim Konferansı, ToRK 2018 | 1 |
| CISM International Centre for Mechanical Sciences, Courses and Lectures | 1 |
| New Trends in Medical and Service Robotics: Advances in Theory and Practice | 1 |
| New Trends in Medical and Service Robots: Design, Analysis and Control, MESROB 2016 | 1 |
| TOK 2016 Bildiriler Kitabı | 1 |
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Conference Object Neuroboscope Sisteminin Model Tabanlı Sınaması(Otomatik Kontrol Türk Milli Komitesi, 2016) Uzun, Bengisu; Ayav, Tolga; Dede, Mehmet İsmet Can; Berker, Mustafa; Işıkay, İlkay; Hanalioğlu, Şahin; Özdemirel, Barbaros; Kiper, Gökhan; Tatlıcıoğlu, Enver; Maaroof, Omar W.; Işıtman, Oğulcan; Ateş, Gizem; Yaşır, AbdullahNeuRoboScope projesinde, endoskopik hipofiz cerrahisinde kullanılan optik-kamera sisteminin, cerrahın kullandığı cerrahi aletleri takip ederek yönlendirilmesini amaçlayan emniyet kritik bir sistemin tasarlanması amaçlanmıştır. Bu bildiri, sistem gereksinimleri üzerinden tüm sistemin modellenmesini ve oluşturulan bu modelin sınanmasını ele almaktadır. Böylece, tasarım evresinden önce tasarımın dayanağı olan sistem gereksinimlerinin doğrulanması hedeflenmiştir. Sistem bir zamanlı otomat ağı olarak modellenmiş ve UPPAAL model sınama aracı kullanılarak, sistemin başta emniyet kritik olmak üzere diğer önemli özellikleri sınanmıştır.Conference Object Cerrahın Anlık Yönlendirilebildiği Robot Yardımlı Endoskop Kontrol Sistemi Mimarisi - Neuroboscope(Boğaziçi Üniversitesi, 2018) Dede, Mehmet İsmet Can; Kiper, Gökhan; Ayav, Tolga; Tatlıcıoğlu, Enver; Özdemirel, Barbaros; Maaroof, Omar; Ateş, Gizem; Berker, Mustafa; Işıkay, İlkay; Hanalioğlu, ŞahinBu bildiride ele alınan çalışmada endoskopik hipofiz cerrahisinde kullanılan optik-kamera sistemini, cerrahın anlık isteklerini takip ederek yönlendirilmesine izin verecek robotik sistem geliştirilmektedir. Cerrah kendisi ameliyat sahasında ameliyatı gerçekleştirirken robotu yönlendirmesi gerekmektedir. Bu gereksinim için geliştirilmekte olan özgün alt bileşenler ve toplam sistem mimarisi bildiri içinde tanıtılmıştır ve çalışmanın sonuçları benzer minimal invaziv ameliyatların robot destekli ameliyata dönüşmesine imkan verebilecektir. Bildiride sistemin gereksinimlerinin oluşturulması için yapılan testler anlatılmıştır. Üzerinde durulan sistem gereksinimlerinden birisi robotun çalışma alanı, diğeri ise cerrahın kullanım kolaylığı ile ilgilidir.Master Thesis Teleoperation System Desing of a Robot Assisted Endoscopic Pituitary Surgery(Izmir Institute of Technology, 2018) Ateş, Gizem; Dede, Mehmet İsmet CanTeleoperation, 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.Book Part Citation - WoS: 3Citation - Scopus: 5Design of a Teleoperation Scheme With a Wearable Master for Minimally Invasive Surgery(Springer, 2019) Ateş, Gizem; Majani, Ronny; Dede, Mehmet İsmet CanMinimally invasive surgery is increasingly being preferred over conventional surgery, however many problems still persist in longer surgeries such as pituitary surgeries, where surgeons are still required to hold an endoscope in their hand for prolonged periods of time. Many modern approaches have recently been proposed in literature to reduce the surgeon’s effort. In this paper we extended upon these previous attempts and presented a promising solution; a real time teleoperation scheme with 3 different modes of operation, composed of a wearable ring system that captures and transmits voluntary hand motions over a wireless connection to a slave system. Accordingly, this slave system processes the received data to generate velocity demands for the robot endoscope controller. Finally, the feasibility of the proposed modes of operation are demonstrated and compared by measuring their learning curve and effort by running a set of training simulations on human subjects.Book Part Citation - Scopus: 2Improved Usability of a Low-Cost 5-Dof Haptic Device for Robotic Teleoperation(Springer, 2019) Ateş, Gizem; Brunetti, Luca; Bonfè, MarcelloThe paper describes the design and application of a low-cost haptic device with five degrees of freedom (5-DOF), all of which are fully actuated for force/torque haptic display. The device is realized using two Novint Falcons, commercially available haptic devices with only translational DOF. The paper focus on the practical issues related to the use of such a haptic device as a robotic teleoperation master and provides solutions to improve its usability during an application inspired by surgical robotics, namely the teleoperated insertion of a needle into a soft tissue. Experiments demonstrate the usefulness of force feedback and virtual fixtures on both translation and orientation degrees of freedom. © 2019, CISM International Centre for Mechanical Sciences.Conference Object Citation - WoS: 3Citation - Scopus: 4Unilateral Teleoperation Design for a Robotic Endoscopic Pituitary Surgery System(Springer, 2018) Dede, Mehmet İsmet Can; Maaroof, Omar Waleed Najm; Ateş, Gizem; Berker, Mustafa; Işıkay, İlkay; Hanalioğlu, ŞahinThe aim of this study is to develop a teleoperation system which will be used to support the endoscopic pituitary surgery procedures. The proposed system aims to enable the surgeon to operate with three different operation tools (one of them is the endoscope) simultaneously. By this way, it is expected that the productivity of the surgical operation will be improved and the duration of the operation will be shortened. In the proposed system, a main control unit that can be attached to any of the surgical tools that are used in the operation (other than the endoscope) will be developed to capture the motion of the surgeon’s hand motion as demanded by the surgeon, to process the captured motion and to send it to the robot that handles the endoscope. In this way, the endoscope will be directed simultaneously by the surgeon throughout the operation while he/she is using the other surgical tools with his/her two hands. In this paper, the study to determine the type and processing of information that is sent from the surgeon’s side to the endoscope robot is presented.