Please use this identifier to cite or link to this item:
Full metadata record
DC FieldValueLanguage
dc.contributor.advisorDede, Mehmet İsmet Canen_US
dc.contributor.authorAteş, Gizem-
dc.identifier.citationAteş, G. (2018). Teleoperation system desing of a robot assisted endoscopic pituitary surgery. Unpublished master's thesis, Izmir Institute of Technology, Izmir, Turkeyen_US
dc.descriptionThesis (Master)--Izmir Institute of Technology, Mechanical Engineering, Izmir, 2018en_US
dc.descriptionIncludes bibliographical references (leaves: 88-92)en_US
dc.descriptionText in English; Abstract: Turkish and Englishen_US
dc.description.abstractTeleoperation, also named telerobotics, is defined as controlling a robot over a distance by a remote controller. In a teleoperation setting, the human operator controls the master system(s) to the slave system(s) via wired or wireless communication channel. Genarally, in bilateral teleoperation, the human operator is informed about the slave environment via feedback signals (haptic, visual or audio) sent back from the slave environment. Commonly, teleoperated systems are more preferable in hazardous environments to protect the human operator; neverthless, there many other fields where the teleoperated systems are employed for various tasks. one of these areas, where teleoperation technology is becoming more popular,is the medical area. Telesurgical equipments allow more precise performance than a humman can achieve especially in minimally invasive surgeries. The purpose of this thesisis to develop a novel teleoperation system architecturewhich will be used to support the endoscopic pituitary surgery procedures which are classified under minimally invasive surgeries. Even though, the surgeon has only two hands, the proposed system aims to enable the surgeon to operate with three different surgical tools simultaneously including the endescope. he type of work is categorized under collaborative surgical robots, which incorporates a teleoperation system setup. he master control unit is a ring-shaped remote controller which consists of an inertial measurement unit and a wireless module. Surgeon wears the master system during the operation while holding a surgical tool such as the aspirator, and delivers the voluntary commands to the slave system by triggering a food pedal. The slave is the endescope holder robot which is a 8 degrees-of-freedom manipulator whose 3 degrees-of-freedom are active and the rest of them are passive. here is also an indicator panel which is used to provide visual feedback to the surgeon indicating the states of the surgey and excessive force application on the tissue.en_US
dc.description.sponsorshipTUBITAK (115E726)en_US
dc.format.extentxiv, 123 leavesen_US
dc.publisherIzmir Institute of Technologyen_US
dc.subjectMedical robotsen_US
dc.subjectBilateral teleoperationen_US
dc.subjectInertial measurement unitsen_US
dc.titleTeleoperation system desing of a robot assisted endoscopic pituitary surgeryen_US
dc.title.alternativeRobot yardımlı endoskopik hipofiz ameliyatının teleoperasyon sistemi tasarımıen_US
dc.typeMaster Thesisen_US
dc.institutionauthorAteş, Gizem-
dc.departmentThesis (Master)--İzmir Institute of Technology, Mechanical Engineeringen_US
item.fulltextWith Fulltext-
item.openairetypeMaster Thesis- Department of Computer Engineering-
Appears in Collections:Master Degree / Yüksek Lisans Tezleri
Sürdürülebilir Yeşil Kampüs Koleksiyonu / Sustainable Green Campus Collection
Files in This Item:
File Description SizeFormat 
T001777.pdfMasterThesis43.5 MBAdobe PDFThumbnail
Show simple item record

CORE Recommender

Page view(s)

checked on Jun 10, 2024


checked on Jun 10, 2024

Google ScholarTM


Items in GCRIS Repository are protected by copyright, with all rights reserved, unless otherwise indicated.