1 Ocak 2020 Dergi makalesi Açık Erişim

Yasir, Abdullah; Kiper, Gokhan; Dede, M. I. Can

Citation Style Language JSON

{
  "DOI": "10.1016/j.mechmachtheory.2020.104013", 
  "abstract": "In minimally invasive surgery applications, the use of robotic manipulators is becoming more and more common to enhance the precision of the operations and post-operative processes. Such operations are often performed through an incision port (a pivot point) on the patient's body. Since the end-effector (the handled surgical tool) move about the pivot point, the manipulator has to move about a remote center of motion. In this study, a 3-degrees-of-freedom parallel mechanism with 2R1T (R: rotation, T: translation) remote center of motion capability is presented for minimally invasive surgery applications. First, its kinematic structure is introduced. Then, its kinematic analysis is carried out by using a simplified kinematic model which consists of three intersecting planes. Then the dimensional design is done for the desired workspace and a simulation test is carried out to verify the kinematic formulations. Finally, the prototype of the final design is presented. (c) 2020 Elsevier Ltd. All rights reserved.", 
  "author": [
    {
      "family": "Yasir", 
      "given": " Abdullah"
    }, 
    {
      "family": "Kiper", 
      "given": " Gokhan"
    }, 
    {
      "family": "Dede", 
      "given": " M. I. Can"
    }
  ], 
  "container_title": "MECHANISM AND MACHINE THEORY", 
  "id": "5223", 
  "issued": {
    "date-parts": [
      [
        2020, 
        1, 
        1
      ]
    ]
  }, 
  "title": "Kinematic design of a non-parasitic 2R1T parallel mechanism with remote center of motion to be used in minimally invasive surgery applications", 
  "type": "article-journal", 
  "volume": "153"
}