1 Ocak 2020 Dergi makalesi Açık Erişim

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

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        "affiliation": "Delft Univ Technol, Precis & Microsyst Engn Dept, NL-2628 CD Delft, Netherlands", 
        "name": "Yasir, Abdullah"
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      {
        "name": "Kiper, Gokhan"
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        "affiliation": "Izmir Inst Technol, Mech Engn Dept, TR-35430 Izmir, Turkey", 
        "name": "Dede, M. I. Can"
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    "description": "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.", 
    "doi": "10.1016/j.mechmachtheory.2020.104013", 
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      "title": "MECHANISM AND MACHINE THEORY", 
      "volume": "153"
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    "title": "Kinematic design of a non-parasitic 2R1T parallel mechanism with remote center of motion to be used in minimally invasive surgery applications"
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