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  • Küçük Resim
    Öğe
    Fuzzy Control of Laparoscopic Surgical Robot Designed for Use in Minimally Invasive Surgery
    (2018) Aksungur, Serhat; Yakut, Oğuz
    Nowadays, the use of robot technologies has become widespread. Robots that have been confronted in many sectors have also been used in surgical operations in recent years. RCM (Remote Center of Motion) mechanisms take the place of these robots, which have less space-consuming and specially designed for operation. Reduced space requirements and lower maintenance costs are the greatest advantages of these mechanisms. In this study, some of the RCM mechanisms which used in surgical operations are mentioned. A unique and original surgical robot designed for laparoscopic surgical purposes which is not in the literature of robots, has been described. This surgical robot was designed with a 3D CAD program and motion of robot was analyzed. Robot control was performed using fuzzy control method. Dynamic equations of robot which used at fuzzy control were obtained with Lagrangian mechanics. MATLAB software has been used for robot control. Used membership function parameters of fuzzy control were optimized with genetic algorithm method. Obtained fuzzy control graphics with MATLAB were given in the result section.
  • Küçük Resim
    Öğe
    Real-time PID control of a novel RCM mechanism designed and manufactured for use in laparoscopic surgery
    (Emerald, 2020) Aksungur, Serhat; Aydın, Muhammet; Yakut, Oǧuz
    Purpose: The purpose of this study is to design and manufacture a new remote center of motion (RCM) mechanism for use in laparoscopic surgical operations. In addition, obtaining the forward and inverse kinematic equations of the RCM mechanism and performing real-time position control with the Proportional–Integral–Derivative (PID) control method. Design/methodology/approach: At the design stage, it is benefited from similar triangle rule. To obtain the kinematic equations in a simple way and facilitate control, two-fold displacement ratio is provided between the limbs where linear motion occurs. The rotation and displacement amounts required to move at the RCM point have been calculated by using the kinematic equations of the mechanism. Limb dimensions and motion limits are determined in the manner to avoid singularities and collisions. The x, y and z coordinates of the end effector have been defined as the reference point. Control of the mechanism was provided by PID control. To generate the user interface and control algorithm, MATLAB/Simulink real-time toolbox has been used. Four reference points were determined, control was performed and position error values were examined. MF634 Humusoft data acquisition card has been preferred to collect data from encoders. Findings: A novel RCM mechanism has been designed and manufactured. Kinematic equations of this mechanism have been obtained. Position control of the cannula tip has been performed using PID control method for four different reference points. After settlement, maximum position error has been observed as 0.45 mm. Practical implications: Structure of the designed mechanism is quite simple. Thus, costs are quite low. The operation area of the operator is widened by hanging the mechanism from the ceiling, so operational capability of health personnel is increasing. It helps to decrease the operation time and increase the success of the operation. Originality/value: With this study, it is aimed to contribute to the literature by designing a new RCM mechanism. The rotation of the mechanism around the RCM point is provided by only one rotary motor, and the displacement of the RCM point in the vertical axis is provided by only one linear motor. The mechanism is also a surgical robot. The designed system is suitable for use in robot-assisted laparoscopic surgery in terms of maneuverability.