Fuzzy Control of Laparoscopic Surgical Robot Designed for Use in Minimally Invasive Surgery

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dc.authorid0000-0001-9707-3799en_US
dc.contributor.authorAksungur, Serhat
dc.contributor.authorYakut, Oğuz
dc.date.accessioned2022-04-12T12:20:55Z
dc.date.available2022-04-12T12:20:55Z
dc.date.issued2018en_US
dc.departmentMTÖ Üniversitesi, Arapgir Meslek Yüksekokulu, Motorlu Araçlar ve Ulaştırma Teknolojileri Bölümüen_US
dc.description.abstractNowadays, 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.en_US
dc.identifier.citationAksungur, S., & Yakut, O. (2018). Fuzzy control of laparoscopic surgical robot designed for use in minimally invasive surgery. International Journal of Applied Mathematics Electronics and Computers, 6(4), 65-70.en_US
dc.identifier.doi10.18100/ ijamec.2018447789
dc.identifier.endpage70en_US
dc.identifier.issn2147-8228en_US
dc.identifier.issue4en_US
dc.identifier.startpage65en_US
dc.identifier.urihttps://dergipark.org.tr/tr/pub/ijamec/issue/41654/479131
dc.identifier.urihttps://hdl.handle.net/20.500.12899/977
dc.identifier.volume6en_US
dc.institutionauthorAksungur, Serhat
dc.language.isoenen_US
dc.relation.ispartofInternational Journal of Applied Mathematics Electronics and Computersen_US
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanıen_US
dc.rightsinfo:eu-repo/semantics/openAccessen_US
dc.subjectSurgical roboten_US
dc.subjectRCM mechanismen_US
dc.subjectLagrangian motion equationsen_US
dc.subjectfuzzy controlen_US
dc.titleFuzzy Control of Laparoscopic Surgical Robot Designed for Use in Minimally Invasive Surgeryen_US
dc.typeArticleen_US

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