TY - GEN
T1 - Design and kinematics of a 5-DOF parallel robot for beating heart surgery
AU - Ersoy, Onur
AU - Yildirim, Mehmet C.
AU - Ahmad, Awais
AU - Yirmibesoglu, Osman D.
AU - Koroglu, Nazli
AU - Bebek, Ozkan
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/7
Y1 - 2019/7
N2 - In this paper, mechanical and electronics design of a lightweight 5-DOF robot, Ozyegin Surgery Robot I (OSI), and it's performance of tracking the heart motion for coronary artery bypass procedure (CABG) are presented. The OSI is designed to operate for high motion bandwidths. This ability is realized using 3 sub-mechanisms: a 3-DOF remote stage for high acceleration, a 2-DOF fixed stage for low error positioning, and a drive unit to actuate 3-DOF surgical tools. The forward and the inverse kinematics of the OSI's sub-units are also presented. The transmission ratios (gear ratios) and initial angle offsets of the robot are calibrated using an optical measurement sensor. The ability of the robot to track the beating heart motion is tested using simulations and experiments. The results show that the robot end-effector can track the heartbeat motion data with 0.66 mm error.
AB - In this paper, mechanical and electronics design of a lightweight 5-DOF robot, Ozyegin Surgery Robot I (OSI), and it's performance of tracking the heart motion for coronary artery bypass procedure (CABG) are presented. The OSI is designed to operate for high motion bandwidths. This ability is realized using 3 sub-mechanisms: a 3-DOF remote stage for high acceleration, a 2-DOF fixed stage for low error positioning, and a drive unit to actuate 3-DOF surgical tools. The forward and the inverse kinematics of the OSI's sub-units are also presented. The transmission ratios (gear ratios) and initial angle offsets of the robot are calibrated using an optical measurement sensor. The ability of the robot to track the beating heart motion is tested using simulations and experiments. The results show that the robot end-effector can track the heartbeat motion data with 0.66 mm error.
UR - http://www.scopus.com/inward/record.url?scp=85073198171&partnerID=8YFLogxK
U2 - 10.1109/ICARM.2019.8833632
DO - 10.1109/ICARM.2019.8833632
M3 - Conference contribution
AN - SCOPUS:85073198171
T3 - 2019 4th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2019
SP - 274
EP - 279
BT - 2019 4th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 4th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2019
Y2 - 3 July 2019 through 5 July 2019
ER -