Design and kinematics of a 5-DOF parallel robot for beating heart surgery

Onur Ersoy, Mehmet C. Yildirim, Awais Ahmad, Osman D. Yirmibesoglu, Nazli Koroglu, Ozkan Bebek

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

1 Scopus citations

Abstract

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.

Original languageEnglish
Title of host publication2019 4th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages274-279
Number of pages6
ISBN (Electronic)9781728100647
DOIs
StatePublished - Jul 2019
Externally publishedYes
Event4th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2019 - Osaka, Japan
Duration: 3 Jul 20195 Jul 2019

Publication series

Name2019 4th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2019

Conference

Conference4th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2019
Country/TerritoryJapan
CityOsaka
Period3/07/195/07/19

Fingerprint

Dive into the research topics of 'Design and kinematics of a 5-DOF parallel robot for beating heart surgery'. Together they form a unique fingerprint.

Cite this