1 Ocak 2020 Dergi makalesi Açık Erişim

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

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  <identifier identifierType="URL">https://aperta.ulakbim.gov.tr/record/5223</identifier>
  <creators>
    <creator>
      <creatorName>Yasir, Abdullah</creatorName>
      <givenName>Abdullah</givenName>
      <familyName>Yasir</familyName>
      <affiliation>Delft Univ Technol, Precis &amp; Microsyst Engn Dept, NL-2628 CD Delft, Netherlands</affiliation>
    </creator>
    <creator>
      <creatorName>Kiper, Gokhan</creatorName>
      <givenName>Gokhan</givenName>
      <familyName>Kiper</familyName>
    </creator>
    <creator>
      <creatorName>Dede, M. I. Can</creatorName>
      <givenName>M. I. Can</givenName>
      <familyName>Dede</familyName>
      <affiliation>Izmir Inst Technol, Mech Engn Dept, TR-35430 Izmir, Turkey</affiliation>
    </creator>
  </creators>
  <titles>
    <title>Kinematic Design Of A Non-Parasitic 2R1T Parallel Mechanism With Remote Center Of Motion To Be Used In Minimally Invasive Surgery Applications</title>
  </titles>
  <publisher>Aperta</publisher>
  <publicationYear>2020</publicationYear>
  <dates>
    <date dateType="Issued">2020-01-01</date>
  </dates>
  <resourceType resourceTypeGeneral="Text">Journal article</resourceType>
  <alternateIdentifiers>
    <alternateIdentifier alternateIdentifierType="url">https://aperta.ulakbim.gov.tr/record/5223</alternateIdentifier>
  </alternateIdentifiers>
  <relatedIdentifiers>
    <relatedIdentifier relatedIdentifierType="DOI" relationType="IsIdenticalTo">10.1016/j.mechmachtheory.2020.104013</relatedIdentifier>
  </relatedIdentifiers>
  <rightsList>
    <rights rightsURI="http://www.opendefinition.org/licenses/cc-by">Creative Commons Attribution</rights>
    <rights rightsURI="info:eu-repo/semantics/openAccess">Open Access</rights>
  </rightsList>
  <descriptions>
    <description descriptionType="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.</description>
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