Cerrahi robotik sistemlerin güvenliğinin geliştirilmesi için temel tasarım özellikleri ve cerrahi yardımcı robotik test sisteminin değerlendirilmesi ve iyileştirilmesi

The significance of the robots in the medical field have been increasing rapidly. Humans and robots working together increases the strengths and decreases the limitations of surgical operations. Human life makes safety the most important problem for medical robots, for which there are no universal standards. This thesis presents detailed design methods for increasing medical robots' safety by considering issues of sterilization, robot's size, operating room placement of the robot, the robot mechanics, selection of the electromechanical components, drive mechanism, stiffness, sensor redundancy, software application, and hazard identification and analysis. The proposed safety design concepts were applied a surgery robot named MISA (Minimally Invasive Surgery Assistant) and the outcomes are discussed. This thesis presents the architecture of a surgical robotic system designed to assist minimally invasive surgeries. The design, mechanism, electronic components, kinematics and control of an example robot MISA are discussed. The system includes a 5 DoF robotic arm and surgical scissor as an end effector. As far as all the information about required safety concepts is concerned, this thesis can be considered as a guideline to design more safe surgical and medical robotic systems.