Publication: Robotik-laparoskopik cerrahi ve girişimsel radyoloji alanlarında kullanılabilecek multi fonksiyonel robotik kol başlıklarının tasarımı ve uygulaması
Abstract
ROBOTİK-LAPAROSKOPİK CERRAHİ VE GİRİŞİMSEL RADYOLOJİ ALANLARINDA KULLANILABİLECEK MULTİ FONKSİYONEL ROBOTİK KOL BAŞLIKLARININ TASARIMI VE UYGULAMASI” başlıklı tez çalışmasında ticari ismi ile Nitinol olarak bilinen Nikel-Titanyum Alaşımı malzemeler ile kontrol edilen ve tıbbı girişim alanlarında kullanılabilecek tutucular ve bu tutucuların yer alacağı bir robotik kol tasarlanmak istenmiştir. Literatürde bu malzemelerin kullanıldığı daha çok eyleyici uygulamalarına ve bunların çeşitli kontrol mekanizmalarına rastlanmıştır. Yine literatürde tıbbı ve endüstriyel alanda kullanılmak üzere geliştirilen birçok tutucu mekanizmaları incelenmiştir. Bu tez çalışmasında nitinol tabanlı mekanizmalar ile kontrol edilen mikro hareketler yapabilen, kavrama, tutma, kaldırma, bırakma işlevlerini yerine getiren sekiz adet tutucu geliştirilmiştir. Ayrıca yanal ve dikey yatma kabiliyetli ve bu tutucuların monte edilebileceği bir robot kol tasarlanmıştır. Tutucular tutma mekanizmalarına ve kullanılan malzemelerin özelliğine göre çeşitlendirilmiştir. Ucuna takıldıkları kol ile uzaktan kablosuz kontrol edilmişlerdir. Hem tutucu kolun hem de tutucu uçlarının hareket miktarı, açılma-kapanma süreleri, hızları benzer şekilde tutucu kolun açısal pozisyon ve hız ile ilgili değişkenleri literatürde rastlanan sensörlü sistemlerden farklı olarak Matlab tabanlı bir Görüntü İşleme uygulaması ile elde edilmiştir. Bütün tasarımlar çeşitli besleme gerilimleri, Darbe Genişlik Modülasyonu Görev Döngü Oranları ve Frekans Sinyali gibi farklı çalışma şartlarında test edilmiştir. Elde edilen performans verileri değerlendirilerek, üretilen her bir tutucu sistemi eksiklikleri, sınırları ve avantajları açısından değerlendirilmiştir. Buradan elde edilen çıkarımlar sonucunda ileri dönem çalışmalarda izlenecek yol tespit edilmiştir.
In this thesis entitled “DESIGN AND IMPLEMENTATION OF MULTIFUNCTIONAL ROBOTIC ARM AND GRIPPERS FOR ROBOTIC-LAPAROSCOPIC SURGERY AND INTERVENTIONAL RADIOLOGY APPLICATIONS”, the intention was to design grippers and a robotic arm controlled by Nickel-Titanium Alloy materials known as Nitinol, which can be used in medical interventional areas with various gripper designs mounted onto the robotic arm. Many actuation applications and their various control mechanism have been encountered in the literature regarding the use of these materials. In addition, a variety of gripping mechanisms designed for medical and industrial applications have been investigated. In this thesis, eight different grippers were developed performing micro-movements by nitinol-based mechanisms to generate grasping, gripping, lifting, and releasing functions. Additionally, a robotic arm with a pitch and yaw degree of freedom was developed to hold these gripper designs. The grippers are diversified according to their holding mechanism and the properties of the production material utilized during the production of the system. These grippers are controlled remotely and wirelessly together with the robotic arm on which they are mounted. Different from the sensor systems found in the literature, the variables related to the amount of jaws clearance, opening-closing times and speeds for gripper jaws and similarly angular position and speed of the robotic arm were obtained with a Matlab based Image Processing application. All gripping systems were experimented under different supply voltage, Pulse Width Modulation duty cyle and frequency signal conditions. According to the performance data obtained, each gripper design was assessed in terms of deficiencies, limits, and advantages of the system. In light of the inferences derived, the path to be followed in later studies has been determined.
In this thesis entitled “DESIGN AND IMPLEMENTATION OF MULTIFUNCTIONAL ROBOTIC ARM AND GRIPPERS FOR ROBOTIC-LAPAROSCOPIC SURGERY AND INTERVENTIONAL RADIOLOGY APPLICATIONS”, the intention was to design grippers and a robotic arm controlled by Nickel-Titanium Alloy materials known as Nitinol, which can be used in medical interventional areas with various gripper designs mounted onto the robotic arm. Many actuation applications and their various control mechanism have been encountered in the literature regarding the use of these materials. In addition, a variety of gripping mechanisms designed for medical and industrial applications have been investigated. In this thesis, eight different grippers were developed performing micro-movements by nitinol-based mechanisms to generate grasping, gripping, lifting, and releasing functions. Additionally, a robotic arm with a pitch and yaw degree of freedom was developed to hold these gripper designs. The grippers are diversified according to their holding mechanism and the properties of the production material utilized during the production of the system. These grippers are controlled remotely and wirelessly together with the robotic arm on which they are mounted. Different from the sensor systems found in the literature, the variables related to the amount of jaws clearance, opening-closing times and speeds for gripper jaws and similarly angular position and speed of the robotic arm were obtained with a Matlab based Image Processing application. All gripping systems were experimented under different supply voltage, Pulse Width Modulation duty cyle and frequency signal conditions. According to the performance data obtained, each gripper design was assessed in terms of deficiencies, limits, and advantages of the system. In light of the inferences derived, the path to be followed in later studies has been determined.