Publication: Design and kinematics of a 5-DOF parallel robot for beating heart surgery
Program
KU-Authors
KU Authors
Co-Authors
Ersoy, Onur
Yildirim, Mehmet C.
Ahmad, Awais
Yirmibesoglu, Osman D.
Bebek, Ozkan
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Abstract
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.
Source
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Subject
Engineering, Manufacturing engineering, Electrical and electronic engineering, Robotics
Citation
Has Part
Source
2019 4th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2019
Book Series Title
Edition
DOI
10.1109/ICARM.2019.8833632