Design, production and tests of an inherently balanced mechanism to be used as an endoscope holder for endonasal skull base surgery
Başlık:
Design, production and tests of an inherently balanced mechanism to be used as an endoscope holder for endonasal skull base surgery
Yazar:
Yılmaz, Tuğrul, author.
Yazar Ek Girişi:
Fiziksel Tanımlama:
xii, 99 leaves: color illustrations, charts;+ 1 computer laser optical disc
Özet:
Robotic surgery is popular in minimally invasive operations. Given the requirement for the manipulator to operate around the body-entrance point, it must have a remote center of motion. The main aim of the thesis is to design and prototype a surgical robotic arm with 3 degrees of freedom (2 rotation + 1 translation motion pattern) and a remote center of motion to be used as an endoscope holder in minimally invasive surgery. First, a literature review is conducted on robotic surgery, robots used in minimally invasive surgery and mechanisms with remote center of motion. Then, possible kinematic structures are examined and the most suitable one was selected considering the requirements such as balancing compatibility and workspace. While circular tracking arc mechanism is known in the literature, manipulator based on the modified circular tracking arc is novel. Also, gravity compensation of the circular tracking arc is performed. After the gravity-compensation solution for the manipulator is developed and parametrized by considering the workspace, link lengths and geometries were determined and a solid model was developed for detailed construction. Finally, a prototype of the mechanism is manufactured.
Tüzel Kişi Ek Girişi:
Tek Biçim Eser Adı:
Thesis (Master)--İzmir Institute of Technology: Mechanical Engineering.
İzmir Institute of Technology: Mechanical Engineering--Thesis (Master).
Elektronik Erişim:
Access to Electronic Versiyon.