Browsing by Author "Ersoy, Onur"

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    Conference ObjectPublicationMetadata only
    Design and kinematics of a 5-DOF parallel robot for beating heart surgery
    (IEEE, 2019) Ersoy, Onur; Yıldırım, Mehmet Can; Ahmad, A.; Yirmibesoglu, O. D.; Koroglu, N.; Bebek, Özkan; Mechanical Engineering; BEBEK, Özkan; Ersoy, Onur; Yıldırım, Mehmet Can
    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.
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    Master ThesisPublicationMetadata only
    Development and control of a parallel endoscopic surgical robot platform for beating heart procedures
    (2021-06-16) Ersoy, Onur; Bebek, Özkan; Bebek, Özkan; Ünal, Ramazan; Arslan, Y. Z.; Department of Mechanical Engineering; Ersoy, Onur
    Minimally Invasive Robotic Surgery focuses on performing surgeries using advanced robotic tools through small incisions. Taking advantage of these advanced tools and control methods, challenging surgeries such as robotic-assisted coronary artery bypass graft surgeries are proposed. Operating on a beating heart requires high precision and high bandwidth motion due to the fast and complex dynamics of the heart. In this thesis, the design, modeling, and control of the parallel endoscopic 5-DOF robot, named Özyeğin Surgical Robot Platform (OSI), aimed for beating heart procedures is presented. The robotic system consists of 3 sub-mechanisms that are constructed to realize motion tracking. These stages consist of 2 parallel mechanisms with 3-DOF and 2-DOFs, and a 3-DOF surgical instrument attached to parallel mechanisms end effectors. The robot is kinematically calibrated and calculations are performed to obtain the end-effector position of the surgical tool precisely. To improve the con trol algorithm’s robustness, gravity compensation of the dynamic system is modeled. Friction compensation is experimentally modeled and identified using a disturbance observer (DOb) for all of the axes. A torque compensated PID controller and a reac tion force observer (RFOb) with PID are implemented and tested on the platform. A beating heart phantom is used to evaluate the performance of the robot and results are presented.