Please use this identifier to cite or link to this item: https://hdl.handle.net/11147/13458
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dc.contributor.authorYılmaz, Tuğrultr
dc.contributor.authorKiper, Gökhantr
dc.date.accessioned2023-05-23T11:18:12Z-
dc.date.available2023-05-23T11:18:12Z-
dc.date.issued2023-
dc.identifier.urihttps://doi.org/10.1007/978-3-031-29815-8_18-
dc.identifier.urihttps://hdl.handle.net/11147/13458-
dc.description.abstractThe paper presents a novel manipulator design to be used as an endoscope holder for endonasal skull base surgeries. The manipulator should provide two rotational and one translational motions for the endoscope, where it should be able to be oriented about and slide along the tip of the nostril of a patient as a pivot point. First, suitable manipulators with remote center motion are investigated. Manipulators with serial and hybrid kinematic structure and redundant manipulators with a passive joint are examined. A serial manipulator with a circular arc as the second rotation axis is chosen for the detailed design. The novelty of the kinematic structure of the manipulator is that the end-effector heave motion is achieved in a tangential direction to the circular arc. The constructional design and counter-mass balancing solution for the manipulator are presented. The total assembly mass is 11.6 kg for navigating an endoscope of 0.44 kg mass.en_US
dc.language.isoenen_US
dc.publisherSpringeren_US
dc.relationEndonazal Kafa Tabanı Ameliyatı için Endoskop Tutucu Olarak Kullanılacak, Kendinden Dengeli ve Uzak Hareket Merkezli Robot Manipülatörü Tasarımıen_US
dc.relation.ispartofMechanisms and Machine Scienceen_US
dc.rightsinfo:eu-repo/semantics/openAccessen_US
dc.subjectMedical roboticsen_US
dc.subjectSerial manipulatorsen_US
dc.subjectRemote center of motionen_US
dc.titleDesign and balancing of a novel 2R1T manipulator with remote center of motionen_US
dc.typeConference Objecten_US
dc.authorid0000-0002-3853-8020en_US
dc.authorid0000-0001-8793-724Xen_US
dc.departmentİzmir Institute of Technology. Mechanical Engineeringen_US
dc.identifier.scopus2-s2.0-85161390114en_US
dc.relation.publicationcategoryKonferans Öğesi - Uluslararası - Kurum Öğretim Elemanıtr
dc.relation.conferenceSixth MeTrApp Conference 2023en_US
dc.relation.publicationNew Advances in Mechanisms, Transmissions and Applications: Proceedings of the Sixth MeTrApp Conference 2023en_US
dc.identifier.doi10.1007/978-3-031-29815-8_18-
dc.relation.isbn978-3-031-29815-8en_US
dc.relation.doi10.1007/978-3-031-29815-8en_US
dc.relation.issn2211-0984en_US
dc.description.volume124en_US
dc.relation.grantno219M483en_US
item.openairetypeConference Object-
item.openairecristypehttp://purl.org/coar/resource_type/c_18cf-
item.languageiso639-1en-
item.fulltextWith Fulltext-
item.grantfulltextopen-
item.cerifentitytypePublications-
crisitem.author.dept03.10. Department of Mechanical Engineering-
Appears in Collections:Mechanical Engineering / Makina Mühendisliği
Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection
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