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Title: Control methods for a teleoperated endoscope robot
Authors: Işıtman, Oğulcan
Dede, Mehmet İsmet Can
Keywords: Compliant control
Endoscope robot
Pituitary gland surgery
Surgical equipment
Issue Date: 2019
Publisher: Springer Verlag
Source: Işıtman, O., and Dede, M. İ. C. (2019). Control methods for a teleoperated endoscope robot. In Uhl T. (Eds), Advances in Mechanism and Machine Science, (pp. 2077-2086). Switzerland: Springer. doi:10.1007/978-3-030-20131-9_206
Abstract: In this study, control of a endoscope robot for the pituitary gland surgery is presented. This co-worker robot has non-backdrivable actuation system with external brakes on the actuators. Since it is required to move in a constrained environment, which is the inside the nostrils in this case, modifications are required for the motion controller. In order to provide safe procedure, the maximum force and torque limits are defined for the real surgical case by using human cadaver head. By considering these limits and application specific requirements, a compliance controller is proposed and experimentally tested.
ISBN: 978-3-030-20131-9
ISSN: 9.78E+12
Appears in Collections:Mechanical Engineering / Makina Mühendisliği
Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection
Sürdürülebilir Yeşil Kampüs Koleksiyonu / Sustainable Green Campus Collection

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