Author
Ersoy, Onur, Yıldırım, Mehmet Can, Ahmad, A., Yirmibesoglu, O. D., Koroglu, N., Bebek, Özkan
Publication Date
2019
Publication Place
-
IEEE
Type
Document
Language
English
Digital
Yes
Manuscript
No
Library
Özyeğin University
Library Asset ID
978-1-7281-0064-7
Record ID
a82155de-da83-4ff1-ace1-a38990e63cb0
Library Location
Mechanical Engineering
Date
2019
Notes
European Union (EU)
Sample Text
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
