Real-time PID control of a novel RCM mechanism designed and manufactured for use in laparoscopic surgery

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dc.authorid0000-0001-9707-3799en_US
dc.contributor.authorAksungur, Serhat
dc.contributor.authorAydın, Muhammet
dc.contributor.authorYakut, Oǧuz
dc.date.accessioned2021-06-15T18:02:07Z
dc.date.available2021-06-15T18:02:07Z
dc.date.issued2020en_US
dc.departmentMTÖ Üniversitesi, Arapgir Meslek Yüksekokulu, Motorlu Araçlar ve Ulaştırma Teknolojileri Bölümüen_US
dc.description.abstractPurpose: 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.en_US
dc.identifier.citationAksungur, S., Aydın, M., & Yakut, O. (2019). Real-time PID control of a novel RCM mechanism designed and manufactured for use in laparoscopic surgery. Industrial Robot: the International Journal of Robotics Research and Application, 47, 2, 153-166.en_US
dc.identifier.doi10.1108/IR-09-2019-0179
dc.identifier.endpage166en_US
dc.identifier.issn0143-991Xen_US
dc.identifier.issn1758-5791en_US
dc.identifier.issue2en_US
dc.identifier.scopus2-s2.0-85074890230en_US
dc.identifier.scopusqualityQ2en_US
dc.identifier.startpage153en_US
dc.identifier.urihttps://doi.org/10.1108/IR-09-2019-0179
dc.identifier.urihttps://hdl.handle.net/20.500.12899/258
dc.identifier.volume47en_US
dc.identifier.wosWOS:000524880600001en_US
dc.identifier.wosqualityQ4en_US
dc.indekslendigikaynakWeb of Scienceen_US
dc.indekslendigikaynakScopusen_US
dc.institutionauthorAksungur, Serhat
dc.language.isoenen_US
dc.publisherEmeralden_US
dc.relation.ispartofIndustrial Roboten_US
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanıen_US
dc.rightsinfo:eu-repo/semantics/closedAccessen_US
dc.subjectMinimally invasive surgery (MIS)en_US
dc.subjectSurgical roboten_US
dc.subjectHybrid mechanismen_US
dc.subjectRemote center of motion (RCM) mechanismen_US
dc.subjectSurgical roboten_US
dc.subjectReal-time PID controlen_US
dc.subjectLaparoscopic surgeryen_US
dc.titleReal-time PID control of a novel RCM mechanism designed and manufactured for use in laparoscopic surgeryen_US
dc.typeArticleen_US

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