Design and kinematics of a 5-DOF parallel robot for beating heart surgery

Name: Design and kinematics of a 5-DOF parallel robot for beating heart surgery
Author: Ersoy, Onur, Yıldırım, Mehmet Can, Ahmad, A., Yirmibesoglu, O. D., Koroglu, N., Bebek, Özkan

İsim	Design and kinematics of a 5-DOF parallel robot for beating heart surgery
Yazar	Ersoy, Onur, Yıldırım, Mehmet Can, Ahmad, A., Yirmibesoglu, O. D., Koroglu, N., Bebek, Özkan
Basım Tarihi:	2019
Basım Yeri	- IEEE
Tür	Belge
Dil	İngilizce
Dijital	Evet
Yazma	Hayır
Kütüphane:	Özyeğin Üniversitesi
Demirbaş Numarası	978-1-7281-0064-7
Kayıt Numarası	a82155de-da83-4ff1-ace1-a38990e63cb0
Lokasyon	Mechanical Engineering
Tarih	2019
Notlar	European Union (EU)
Örnek Metin	In this paper, mechanical and electronics design of a lightweight 5-DOF robot, Ozyegin Surgery Robot I (OSI), and it's performance of tracking the heart motion for coronary artery bypass procedure (CABG) are presented. The OSI is designed to operate for high motion bandwidths. This ability is realized using 3 sub-mechanisms: a 3-DOF remote stage for high acceleration, a 2-DOF fixed stage for low error positioning, and a drive unit to actuate 3-DOF surgical tools. The forward and the inverse kinematics of the OSI's sub-units are also presented. The transmission ratios (gear ratios) and initial angle offsets of the robot are calibrated using an optical measurement sensor. The ability of the robot to track the beating heart motion is tested using simulations and experiments. The results show that the robot end-effector can track the heartbeat motion data with 0.66 mm error.
DOI	10.1109/ICARM.2019.8833632

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Design and kinematics of a 5-DOF parallel robot for beating heart surgery

Yazar Ersoy, Onur, Yıldırım, Mehmet Can, Ahmad, A., Yirmibesoglu, O. D., Koroglu, N., Bebek, Özkan

Basım Tarihi 2019

Basım Yeri - IEEE

Tür Belge

Dil İngilizce

Dijital Evet

Yazma Hayır

Kütüphane Özyeğin Üniversitesi

Demirbaş Numarası 978-1-7281-0064-7

Kayıt Numarası a82155de-da83-4ff1-ace1-a38990e63cb0

Lokasyon Mechanical Engineering

Tarih 2019

Notlar European Union (EU)

Örnek Metin In this paper, mechanical and electronics design of a lightweight 5-DOF robot, Ozyegin Surgery Robot I (OSI), and it's performance of tracking the heart motion for coronary artery bypass procedure (CABG) are presented. The OSI is designed to operate for high motion bandwidths. This ability is realized using 3 sub-mechanisms: a 3-DOF remote stage for high acceleration, a 2-DOF fixed stage for low error positioning, and a drive unit to actuate 3-DOF surgical tools. The forward and the inverse kinematics of the OSI's sub-units are also presented. The transmission ratios (gear ratios) and initial angle offsets of the robot are calibrated using an optical measurement sensor. The ability of the robot to track the beating heart motion is tested using simulations and experiments. The results show that the robot end-effector can track the heartbeat motion data with 0.66 mm error.

DOI 10.1109/ICARM.2019.8833632