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

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dc.contributor.coauthorErsoy, Onur
dc.contributor.coauthorYildirim, Mehmet C.
dc.contributor.coauthorAhmad, Awais
dc.contributor.coauthorYirmibesoglu, Osman D.
dc.contributor.coauthorBebek, Ozkan
dc.contributor.departmentGraduate School of Sciences and Engineering
dc.contributor.kuauthorKöroğlu, Nazlı
dc.contributor.schoolcollegeinstituteGRADUATE SCHOOL OF SCIENCES AND ENGINEERING
dc.date.accessioned2024-11-09T22:59:08Z
dc.date.issued2019
dc.description.abstractIn 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.
dc.description.indexedbyWOS
dc.description.indexedbyScopus
dc.description.openaccessYES
dc.description.publisherscopeInternational
dc.description.sponsoredbyTubitakEuN/A
dc.description.sponsorshipCloudMinds Technology Inc
dc.description.sponsorshipDenso (China) Investment Co., Ltd and Denso Wave Incorporated
dc.description.sponsorshipRobotics
dc.identifier.doi10.1109/ICARM.2019.8833632
dc.identifier.isbn9781-7281-0064-7
dc.identifier.scopus2-s2.0-85073198171
dc.identifier.urihttps://doi.org/10.1109/ICARM.2019.8833632
dc.identifier.urihttps://hdl.handle.net/20.500.14288/7845
dc.identifier.wos557246500047
dc.keywordsDigital storage
dc.keywordsEnd effectors
dc.keywordsHeart
dc.keywordsInverse kinematics
dc.keywordsMachine design
dc.keywordsOptical data processing
dc.keywordsRobotics
dc.keywordsSurgery
dc.keywordsSurgical equipment
dc.keywordsBeating heart surgery
dc.keywordsCoronary arteries
dc.keywordsElectronics design
dc.keywordsHigh acceleration
dc.keywordsOptical measurement
dc.keywordsParallel robots
dc.keywordsRobot end effector
dc.keywordsTransmission ratios
dc.keywordsRobotic surgery
dc.language.isoeng
dc.publisherInstitute of Electrical and Electronics Engineers (IEEE)
dc.relation.ispartof2019 4th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2019
dc.subjectEngineering
dc.subjectManufacturing engineering
dc.subjectElectrical and electronic engineering
dc.subjectRobotics
dc.titleDesign and kinematics of a 5-DOF parallel robot for beating heart surgery
dc.typeConference Proceeding
dspace.entity.typePublication
local.contributor.kuauthorKöroğlu, Nazlı
local.publication.orgunit1GRADUATE SCHOOL OF SCIENCES AND ENGINEERING
local.publication.orgunit2Graduate School of Sciences and Engineering
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relation.isParentOrgUnitOfPublication434c9663-2b11-4e66-9399-c863e2ebae43
relation.isParentOrgUnitOfPublication.latestForDiscovery434c9663-2b11-4e66-9399-c863e2ebae43

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