Show simple item record

dc.contributor.advisorDede, Mehmet İsmet Canen_US
dc.contributor.authorAteş, Gizem
dc.date.accessioned2018-11-05T13:32:25Z
dc.date.available2018-11-05T13:32:25Z
dc.date.issued2018-07
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 Unpublished master's thesis, Izmir Institute of Technology, Izmir, Turkeyen_US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.identifier.urihttp://hdl.handle.net/11147/6958
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 teleporation setting, the human operator controls the master system(s) to the slave system(s) via wired or wireless communication channel. Genarally, in bilateral teleporation, 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 teleporation 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 teleporation 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.language.isoengen_US
dc.publisherIzmir Institute of Technologyen_US
dc.relationinfo:eu-repo/grantAgreement/TUBITAK/EEEAG/115E726en_US
dc.rightsinfo:eu-repo/semantics/openAccessen_US
dc.subjectMedical robotsen_US
dc.subjectTeleoperationen_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.typemasterThesisen_US
dc.contributor.departmentIzmir Institute of Technology. Mechanical Engineeringen_US
dc.relation.publicationcategoryTezen_US


Files in this item

Thumbnail

This item appears in the following Collection(s)

Show simple item record