Structural Synthesis of 2r1t Type Mechanisms for Minimally Invasive Surgery Applications
| dc.contributor.author | Yaşır, Abdullah | |
| dc.contributor.author | Kiper, Gökhan | |
| dc.coverage.doi | 10.1007/978-3-319-60702-3_4 | |
| dc.date.accessioned | 2018-02-13T11:21:09Z | |
| dc.date.available | 2018-02-13T11:21:09Z | |
| dc.date.issued | 2018 | |
| dc.description | 4th Conference on Mechanisms, Transmissions and Applications, MeTrApp 2017; Trabzon; Turkey; 3 July 2017 through 5 July 2017 | en_US |
| dc.description.abstract | Assistive and operative manipulators allow easier and more precise operations for minimally invasive surgery. Such manipulators often have a pivot point at the incision port on the pa-tient’s body, so the manipulator should have a remote center of motion. This study presents the structural synthesis of a non-parasitic 3-dof manipulator with 2R1T motion pattern to be used as a remote center of motion mechanism for minimally invasive surgery applications. The manipulators of various kinematic structure are evaluated considering criteria such as possibility of construction of the mechanism for remote center of motion, ease of dynamic balancing, number of links, structural symmetry, the number of actuators connected to the base and decoupling of the joint inputs and the output motion of the platform. | en_US |
| dc.description.sponsorship | The Scientific and Technological Research Council of Turkey (grant number 115E726) | en_US |
| dc.identifier.citation | Yaşır, A, and Kiper, G. (2018). Structural synthesis of 2R1T type mechanisms for minimally invasive surgery applications. In M. İ. C. Dede, M. İtik, E. C. Lovasz, G. Kiper (Eds.), Mechanisms, Transmissions and Applications: Proceedings of the Fourth MeTrApp Conference 2017, (pp. 31-38). Cham, Switzerland: Springer | en_US |
| dc.identifier.doi | 10.1007/978-3-319-60702-3_4 | |
| dc.identifier.doi | 10.1007/978-3-319-60702-3_4 | en_US |
| dc.identifier.isbn | 978-331960701-6 | |
| dc.identifier.issn | 2211-0984 | |
| dc.identifier.scopus | 2-s2.0-85025820242 | |
| dc.identifier.uri | http://doi.org/10.1007/978-3-319-60702-3_4 | |
| dc.identifier.uri | https://hdl.handle.net/11147/6781 | |
| dc.language.iso | en | en_US |
| dc.publisher | Springer Verlag | en_US |
| dc.relation | info:eu-repo/grantAgreement/TUBITAK/EEEAG/115E726 | en_US |
| dc.relation.ispartof | Mechanisms, Transmissions and Applications: Proceedings of the Fourth MeTrApp Conference 2017 | en_US |
| dc.rights | info:eu-repo/semantics/openAccess | en_US |
| dc.subject | Minimally invasive surgical manipulator | en_US |
| dc.subject | Structural synthesis | en_US |
| dc.subject | Non-parasitic motion | en_US |
| dc.subject | Remote center of motion | en_US |
| dc.subject | Manipulators | en_US |
| dc.title | Structural Synthesis of 2r1t Type Mechanisms for Minimally Invasive Surgery Applications | en_US |
| dc.type | Conference Object | en_US |
| dspace.entity.type | Publication | |
| gdc.author.institutional | Yaşır, Abdullah | |
| gdc.author.institutional | Kiper, Gökhan | |
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| gdc.description.department | İzmir Institute of Technology. Mechanical Engineering | en_US |
| gdc.description.endpage | 38 | en_US |
| gdc.description.publicationcategory | Konferans Öğesi - Uluslararası - Kurum Öğretim Elemanı | en_US |
| gdc.description.scopusquality | Q4 | |
| gdc.description.startpage | 31 | en_US |
| gdc.description.volume | 52 | en_US |
| gdc.description.wosquality | N/A | |
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| gdc.oaire.keywords | Remote center of motion | |
| gdc.oaire.keywords | Manipulators | |
| gdc.oaire.keywords | Structural synthesis | |
| gdc.oaire.keywords | Non-parasitic motion | |
| gdc.oaire.keywords | Minimally invasive surgical manipulator | |
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