Thesis Defense - Onur Ersoy (MSME)

Onur Ersoy - M.Sc. Mechanical Engineering

Asst. Prof. Özkan Bebek– Advisor

Date: 16.06.2021

Time: 11:00

Location: This meeting will be held ONLINE. Please send an e-mail to gizem.bakir@ozyegin.edu.tr in order to participate in this defense.

Development and Control of a Parallel Endoscopic Surgical Robot Platform For Beating Heart Procedures

Thesis Committee:

Asst. Prof. Özkan Bebek– Advisor, Özyeğin University

Asst. Prof. Ramazan Ünal, Özyeğin University

Prof. Yunus Ziya Arslan, Turkish-German University

Abstract:

Minimally Invasive Robotic Surgery focuses on performing surgeries using advanced robotic tools through small incisions. Taking advantage of these advanced tools and control methods, challenging surgeries such as robotic assisted coronary artery bypass graft surgeries are proposed. Operating on a beating heart requires high precision and high bandwidth motion due to fast and complex dynamics of the heart.  In this thesis, the design, modelling and control of the parallel endoscopic 5-DOF robot, named Özyeğin Surgical Robot Platform (OSI), aimed for beating heart procedures is presented. The robotic system consists of 3 sub-mechanisms that are constructed to realize motion tracking. These stages consist of 2 parallel mechanisms with 3-DOF and 2-DOFs, and a 3-DOF surgical instrument attached to parallel mechanisms end-effectors. The robot is kinematically calibrated and calculations are performed to obtain the end-effector position of the surgical tool precisely. To improve control algorithms robustness, gravity compensation of the dynamic system is modelled. Friction compensation is experimentally modelled and identified using a disturbance observer (DOb) for all of the axes.  A torque compensated PID controller and a reaction force observer (RFOb) with PID is implemented and tested on the platform. A beating heart phantom is used to evaluate the performance of the robot and results are presented.

Bio: 

Onur Ersoy received the B.S. degree in Mechanical Engineering from Ozyegin University in 2016. After, he started to receive his M.S degree in Mechanical Engineering from Ozyegin University and worked as a Teaching Assistant from 2016-2021. Medical robotics, design, modelling and control is in his research interests.