Please use this identifier to cite or link to this item:
https://hdl.handle.net/11147/7297
Title: | Control Methods for a Teleoperated Endoscope Robot | Authors: | Işıtman, Oğulcan Dede, Mehmet İsmet Can |
Keywords: | Compliant control Endoscope robot Pituitary gland surgery Surgical equipment |
Publisher: | Springer Verlag | Source: | Işıtman, O., and Dede, M. İ. C. (2019). Control methods for a teleoperated endoscope robot. In Uhl T. (Eds), Advances in Mechanism and Machine Science, (pp. 2077-2086). Switzerland: Springer. doi:10.1007/978-3-030-20131-9_206 | Abstract: | In this study, control of a endoscope robot for the pituitary gland surgery is presented. This co-worker robot has non-backdrivable actuation system with external brakes on the actuators. Since it is required to move in a constrained environment, which is the inside the nostrils in this case, modifications are required for the motion controller. In order to provide safe procedure, the maximum force and torque limits are defined for the real surgical case by using human cadaver head. By considering these limits and application specific requirements, a compliance controller is proposed and experimentally tested. | URI: | https://doi.org/10.1007/978-3-030-20131-9_206 https://hdl.handle.net/11147/7297 |
ISBN: | 978-3-030-20131-9 | ISSN: | 9.78E+12 |
Appears in Collections: | Mechanical Engineering / Makina Mühendisliği Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection Sürdürülebilir Yeşil Kampüs Koleksiyonu / Sustainable Green Campus Collection |
Files in This Item:
File | Description | Size | Format | |
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7297.pdf | Book Part (submittedVersion) | 893.98 kB | Adobe PDF | View/Open |
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