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

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dc.conference.dateJUL 03-05, 2019
dc.conference.locationOsaka, JAPAN
dc.conference.organizer4th IEEE International Conference on Advanced Robotics and Mechatronics (ICARM)
dc.contributor.coauthorErsoy, Onur
dc.contributor.coauthorYildirim, Mehmet C.
dc.contributor.coauthorAhmad, Awais
dc.contributor.coauthorYirmibesoglu, Osman D.
dc.contributor.coauthorBebek, Ozkan
dc.contributor.departmentDepartment of Mechanical Engineering
dc.contributor.facultymemberNo
dc.contributor.kuauthorKöroğlu, Nazlı
dc.contributor.schoolcollegeinstituteCollege of 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.fulltextNo
dc.description.harvestedfromManual
dc.description.indexedbyWOS
dc.description.indexedbyScopus
dc.description.openaccessYES
dc.description.peerreviewstatusN/A
dc.description.publisherscopeInternational
dc.description.readpublishN/A
dc.description.sponsoredbyTubitakEuEU
dc.description.sponsorshipThis work was supported in part by EU-FP7 Marie Curie Reintegration Grant 33444.
dc.description.studentonlypublicationYes
dc.description.studentpublicationYes
dc.description.versionN/A
dc.identifier.WoSQuartileN/A
dc.identifier.doi10.1109/ICARM.2019.8833632
dc.identifier.embargoN/A
dc.identifier.endpage279
dc.identifier.grantno33444
dc.identifier.isbn9781728100647
dc.identifier.scopus2-s2.0-85073198171
dc.identifier.startpage274
dc.identifier.urihttps://doi.org/10.1109/ICARM.2019.8833632
dc.identifier.urihttps://hdl.handle.net/20.500.14288/7845
dc.identifier.wos000557246500047
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
dc.relation.affiliationKoç University
dc.relation.collectionKoç University Institutional Repository
dc.relation.ispartof2019 4th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2019
dc.relation.openaccessN/A
dc.rightsN/A
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
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