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Title: Structural synthesis of 2R1T type mechanisms for minimally invasive surgery applications
Authors: Yaşır, Abdullah
Kiper, Gökhan
Keywords: Minimally invasive surgical manipulator
Structural synthesis
Non-parasitic motion
Remote center of motion
Issue Date: 2018
Publisher: Springer Verlag
Source: 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
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.
Description: 4th Conference on Mechanisms, Transmissions and Applications, MeTrApp 2017; Trabzon; Turkey; 3 July 2017 through 5 July 2017
ISBN: 978-331960701-6
ISSN: 2211-0984
Appears in Collections:Mechanical Engineering / Makina Mühendisliği
Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection

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