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Hardware interface for a 3-DOF surgical robot arm and a 6-DOF end effector

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dc.contributor Graduate Program in Biomedical Engineering.
dc.contributor.advisor Özkan, Mehmed.
dc.contributor.author Atasoy, Ahmet.
dc.date.accessioned 2023-03-16T13:12:15Z
dc.date.available 2023-03-16T13:12:15Z
dc.date.issued 2010.
dc.identifier.other BM 2010 A83
dc.identifier.uri http://digitalarchive.boun.edu.tr/handle/123456789/18799
dc.description.abstract Robotic surgery aims minimum soft tissue damage and minimum operator intervention by employing automated, precise electro mechanical devices. In this project the hardware components of a surgical robot are integrated for orthopedic surgery. For this purpose an existing robot arm prototype is modi ed to operate a surgical end-e ector that is designed speci cally for orthopedic surgery. The electronic control system for both the arm and the end-e ector are designed in this study. In addition motor drive circuits of the end-e ector were designed. Control interface of both units, the arm and the end-e ector were implemented in hardware and also in software. While serially articulated robot arms are easy to handle, precision requirements of dynamically active robots in surgery are very demanding. To overcome the problem we integrated a serial robot arm with a parallel end-e ector. The serial arm is responsible for handling the end-e ector on the surgical site at a relatively static position. The end-e ector on the other hand, applying a dynamically changing force while moving the surgical tool on the operation area. Parallel stewart platform is preferred for the end-e ector design to increase the accuracy. Therefore the design includes two system structures; a stewart platform 6-DOF as the end e ector, and a 3-DOF serial robot arm to hold the end e ector.|Keywords: Robotics, Robotic Surgery, Computer Assisted Surgery, Parallel Robots, Serial Robots, DOF, Stewart Platform.
dc.format.extent 30cm.
dc.publisher Thesis (M.S.)-Bogazici University. Institute of Biomedical Engineering, 2010.
dc.subject.lcsh Robotics in medicine.
dc.subject.lcsh Surgical robots.
dc.subject.lcsh Computer-assisted surgery.
dc.subject.lcsh Parallel robots.
dc.subject.lcsh Degree of freedom.
dc.title Hardware interface for a 3-DOF surgical robot arm and a 6-DOF end effector
dc.format.pages xi, 43 leaves;


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