Please use this identifier to cite or link to this item: https://hdl.handle.net/11147/7297
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dc.contributor.authorIşıtman, Oğulcan-
dc.contributor.authorDede, Mehmet İsmet Can-
dc.date.accessioned2019-10-03T11:09:39Z-
dc.date.available2019-10-03T11:09:39Z-
dc.date.issued2019en_US
dc.identifier.citationIşıtman, 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_206en_US
dc.identifier.isbn978-3-030-20131-9-
dc.identifier.issn9.78E+12-
dc.identifier.urihttps://doi.org/10.1007/978-3-030-20131-9_206-
dc.identifier.urihttps://hdl.handle.net/11147/7297-
dc.description.abstractIn 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.en_US
dc.description.sponsorshipThis work is supported by The Scientific and Technological Research Council of Turkey via grant number 115E726.en_US
dc.language.isoenen_US
dc.publisherSpringer Verlagen_US
dc.relation.ispartofAdvances in Mechanism and Machine Science: IFToMM World Congress on Mechanism and Machine Scienceen_US
dc.rightsinfo:eu-repo/semantics/openAccessen_US
dc.subjectCompliant controlen_US
dc.subjectEndoscope roboten_US
dc.subjectPituitary gland surgeryen_US
dc.subjectSurgical equipmenten_US
dc.titleControl Methods for a Teleoperated Endoscope Roboten_US
dc.typeBook Parten_US
dc.authorid0000-0001-6220-6678en_US
dc.institutionauthorIşıtman, Oğulcan-
dc.institutionauthorDede, Mehmet İsmet Can-
dc.departmentİzmir Institute of Technology. Mechanical Engineeringen_US
dc.identifier.volume73en_US
dc.identifier.startpage2077en_US
dc.identifier.endpage2086en_US
dc.identifier.scopus2-s2.0-85067586117en_US
dc.relation.tubitakinfo:eu-repo/grantAgreement/TUBITAK/EEEAG/115E726-
dc.relation.publicationcategoryKitap Bölümü - Uluslararasıen_US
dc.identifier.doi10.1007/978-3-030-20131-9_206-
dc.relation.doi10.1007/978-3-030-20131-9_206en_US
dc.coverage.doi10.1007/978-3-030-20131-9_206en_US
item.grantfulltextopen-
item.openairetypeBook Part-
item.openairecristypehttp://purl.org/coar/resource_type/c_18cf-
item.cerifentitytypePublications-
item.languageiso639-1en-
item.fulltextWith Fulltext-
crisitem.author.dept01. Izmir Institute of Technology-
crisitem.author.dept03.10. Department of Mechanical Engineering-
Appears in Collections:Mechanical Engineering / Makina Mühendisliği
Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection
Sürdürülebilir Yeşil Kampüs Koleksiyonu / Sustainable Green Campus Collection
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