Please use this identifier to cite or link to this item: https://hdl.handle.net/11147/9657
Title: Kinematic design of a non-parasitic 2R1T parallel mechanism with remote center of motion to be used in minimally invasive surgery applications
Authors: Yaşır, Abdullah
Kiper, Gökhan
Dede, Mehmet İsmet Can
Kiper, Gökhan
Dede, Mehmet İsmet Can
Yaşır, Abdullah
Kiper, Gökhan
Dede, Mehmet İsmet Can
Yaşır, Abdullah
Keywords: Robotic manipulators
Surgery applications
Surgical robotics
Parallel manipulator
2R1T mechanism
Remote center of motion
Issue Date: 2020
Publisher: Elsevier Ltd.
Source: Yaşır, A., Kiper, İ., Dede, M. İ. C. (2020). Kinematic design of a non-parasitic 2R1T parallel mechanism with remote center of motion to be used in minimally invasive surgery applications. Mechanism and Machine Theory, 153. doi: 10.1016/j.mechmachtheory.2020.104013.
Abstract: In minimally invasive surgery applications, the use of robotic manipulators is becoming more and more common to enhance the precision of the operations and post-operative processes. Such operations are often performed through an incision port (a pivot point) on the patient's body. Since the end-effector (the handled surgical tool) move about the pivot point, the manipulator has to move about a remote center of motion. In this study, a 3-degrees-of-freedom parallel mechanism with 2R1T (R: rotation, T: translation) remote center of motion capability is presented for minimally invasive surgery applications. First, its kinematic structure is introduced. Then, its kinematic analysis is carried out by using a simplified kinematic model which consists of three intersecting planes. Then the dimensional design is done for the desired workspace and a simulation test is carried out to verify the kinematic formulations. Finally, the prototype of the final design is presented.
URI: https://doi.org/10.1016/j.mechmachtheory.2020.104013
https://hdl.handle.net/11147/9657
ISSN: 0094-114X
1873-3999
0094-114X
1873-3999
Appears in Collections:Mechanical Engineering / Makina Mühendisliği
Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection
WoS İndeksli Yayınlar Koleksiyonu / WoS Indexed Publications Collection

Files in This Item:
File Description SizeFormat 
9657.pdfMakale Dosyası4.9 MBAdobe PDFThumbnail
View/Open
Show full item record

CORE Recommender

SCOPUSTM   
Citations

1
checked on Oct 16, 2021

WEB OF SCIENCETM
Citations

6
checked on Oct 16, 2021

Page view(s)

56
checked on Oct 16, 2021

Download(s)

110
checked on Oct 16, 2021

Google ScholarTM

Check

Altmetric


Items in GCRIS Repository are protected by copyright, with all rights reserved, unless otherwise indicated.