Please use this identifier to cite or link to this item: https://hdl.handle.net/11147/7423
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dc.contributor.authorAyit, Orhanen_US
dc.contributor.authorYaşır, Abdullahen_US
dc.contributor.authorVardarlı, Erenen_US
dc.contributor.authorKiper, Gökhanen_US
dc.contributor.authorDede, Mehmet İsmet Canen_US
dc.date.accessioned2019-12-04T11:22:45Z-
dc.date.available2019-12-04T11:22:45Z-
dc.date.issued2018-09-
dc.identifier.urihttps://hdl.handle.net/11147/7423-
dc.description.abstractBu çalışmanın temel konusu minimal invaziv tipi bir ameliyat olan endoskopik hipofiz tümörü ameliyatında kullanılan endoskopun hareket denetimi için geliştirilen robotik sistemdir. Geliştirilen sistemin bu bildiride ele alınan kısmı, ameliyat sırasında sadece ameliyat bölgesi içinde endoskopu cerrahın anlık isteklerine göre yönlendiren, aktif robot yapısıdır. Söz konusu robot uzak hareket merkezli, 3 serbestlik dereceli, paralel kinematik mimariye sahiptir. Bu çalışmada robotun denetimi için uygun görülen hesaplanmış tork yöntemi için gerekli robotun dinamik analizi sunulmaktadır. Denetim algoritmasının yüksek frekansta çalışabilmesi için dinamik denklemlerde yapılan basitleştirmeler ve bunun sonucunda elde edilen hesaplama zamanı sunulmaktadır.en_US
dc.description.abstractThe fundamental subject of this study is the robotic system developed for the motion control of the endoscope used in the pituitary tumor surgery, which is a type of minimally invasive surgery. The part of this developed system issued in this paper is the active robot that directs the endoscope according to the instantaneous demands of the surgeon only in the surgical area. The robot has a remote-center-of-motion, 3 degrees-offreedom and parallel kinematic architecture. In this paper, dynamic analysis of the robot is presented. The dynamic analysis is required for the computed torque method. The paper is concluded by reporting the simplifications that are done in the dynamic equations in order to enable higher frequency of operation of the control algorithm and the resulting computation time.en_US
dc.description.sponsorshipTÜBİTAK Proje Numarası: 115E726en_US
dc.language.isotren_US
dc.publisherOtomatik Kontrol Türk Milli Komitesien_US
dc.relation.ispartofTOK 2018 Bildiriler Kitabıen_US
dc.rightsinfo:eu-repo/semantics/openAccessen_US
dc.subjectAmeliyat robotuen_US
dc.subjectDenetimen_US
dc.subjectDinamik modelen_US
dc.titleBir ameliyat robotunun denetimi için basitleştirilmiş dinamik modelien_US
dc.title.alternativeSimplified dynamic model for the control of a surgical roboten_US
dc.typeConference Objecten_US
dc.authorid0000-0001-5230-5883en_US
dc.authorid0000-0001-8793-724Xen_US
dc.authorid0000-0001-6220-6678en_US
dc.institutionauthorAyit, Orhanen_US
dc.institutionauthorYaşır, Abdullahen_US
dc.institutionauthorVardarlı, Erenen_US
dc.institutionauthorKiper, Gökhanen_US
dc.institutionauthorDede, Mehmet İsmet Canen_US
dc.departmentİzmir Institute of Technology. Photonicsen_US
dc.identifier.startpage265en_US
dc.identifier.endpage270en_US
dc.relation.tubitakinfo:eu-repo/grantAgreement/TUBITAK/EEEAG/115E726-
dc.relation.publicationcategoryKonferans Öğesi - Ulusal - Kurum Öğretim Elemanıen_US
dc.contributor.affiliation01. Izmir Institute of Technologyen_US
dc.contributor.affiliation01. Izmir Institute of Technologyen_US
dc.contributor.affiliation01. Izmir Institute of Technologyen_US
dc.contributor.affiliation01. Izmir Institute of Technologyen_US
dc.contributor.affiliation01. Izmir Institute of Technologyen_US
local.message.claim2022-06-15T14:27:46.966+0300|||rp00352|||submit_approve|||dc_contributor_author|||None*
item.openairetypeConference Object-
item.openairecristypehttp://purl.org/coar/resource_type/c_18cf-
item.fulltextWith Fulltext-
item.languageiso639-1tr-
item.cerifentitytypePublications-
item.grantfulltextopen-
crisitem.author.dept03.10. Department of Mechanical Engineering-
crisitem.author.dept03.10. Department of Mechanical Engineering-
crisitem.author.dept03.10. Department of Mechanical Engineering-
Appears in Collections:Mechanical Engineering / Makina Mühendisliği
Photonics / Fotonik
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