Design, manufacturing, and control of a remote center of motion mechanism for use in laparoscopic surgery

Today's technology, where automation systems and robots are candidates to replace human labor, aims to increase living standards by improving the quality of the final product. In addition, with the developments in the software field, artificial intelligence technologies have found use in daily life and the use of artificial intelligence has become widespread in the studies carried out in the field of robotics. Robots are widely used in the manufacturing sector, and thanks to their process accuracy and high reproducibility, they are also used in different sectors. In the medical, which is one of these sectors, the use of robotic solutions is becoming widespread. Initially more bulky and automation-oriented solutions are now being replaced by more compact and highly controllable solutions with a focus on performance/cost and fast response. This study is about a mechanism designed, manufactured, and controlled for use in the field of laparoscopic surgery. When designing the mechanism, robots used especially in the field of laparoscopic surgery were examined and the aspects that could be improved were investigated. By analyzing the information obtained from the study, a novel design has been realized in such a way that, the dynamic loads are minimum. Prototype manufacturing of the designed robot was realized and different control methods were applied and the movements of the robot were examined both in the computer environment and with real-time control. The findings obtained from the study were discussed for the purposes of the study and were associated and interpreted in the literature. As a result of the thesis study, the control methods applied to the robot were compared and it was found that the sliding mode control has the most accurate control result and the biggest displacement error was 0.45 mm with PID control.