{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,9,8]],"date-time":"2025-09-08T06:56:53Z","timestamp":1757314613613,"version":"3.41.2"},"reference-count":29,"publisher":"Emerald","issue":"2","license":[{"start":{"date-parts":[[2019,11,3]],"date-time":"2019-11-03T00:00:00Z","timestamp":1572739200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.emerald.com\/insight\/site-policies"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IR"],"published-print":{"date-parts":[[2019,11,3]]},"abstract":"<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Purpose<\/jats:title>\n<jats:p>The purpose of this study is to design and manufacture a new remote center of motion (RCM) mechanism for use in laparoscopic surgical operations. In addition, obtaining the forward and inverse kinematic equations of the RCM mechanism and performing real-time position control with the Proportional\u2013Integral\u2013Derivative (PID) control method.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Design\/methodology\/approach<\/jats:title>\n<jats:p>At the design stage, it is benefited from similar triangle rule. To obtain the kinematic equations in a simple way and facilitate control, two-fold displacement ratio is provided between the limbs where linear motion occurs. The rotation and displacement amounts required to move at the RCM point have been calculated by using the kinematic equations of the mechanism. Limb dimensions and motion limits are determined in the manner to avoid singularities and collisions. The <jats:italic>x<\/jats:italic>, <jats:italic>y<\/jats:italic> and <jats:italic>z<\/jats:italic> coordinates of the end effector have been defined as the reference point. Control of the mechanism was provided by PID control. To generate the user interface and control algorithm, MATLAB\/Simulink real-time toolbox has been used. Four reference points were determined, control was performed and position error values were examined. MF634 Humusoft data acquisition card has been preferred to collect data from encoders.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Findings<\/jats:title>\n<jats:p>A novel RCM mechanism has been designed and manufactured. Kinematic equations of this mechanism have been obtained. Position control of the cannula tip has been performed using PID control method for four different reference points. After settlement, maximum position error has been observed as 0.45\u2009mm.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Practical implications<\/jats:title>\n<jats:p>Structure of the designed mechanism is quite simple. Thus, costs are quite low. The operation area of the operator is widened by hanging the mechanism from the ceiling, so operational capability of health personnel is increasing. It helps to decrease the operation time and increase the success of the operation.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Originality\/value<\/jats:title>\n<jats:p>With this study, it is aimed to contribute to the literature by designing a new RCM mechanism. The rotation of the mechanism around the RCM point is provided by only one rotary motor, and the displacement of the RCM point in the vertical axis is provided by only one linear motor. The mechanism is also a surgical robot. The designed system is suitable for use in robot-assisted laparoscopic surgery in terms of maneuverability.<\/jats:p>\n<\/jats:sec>","DOI":"10.1108\/ir-09-2019-0179","type":"journal-article","created":{"date-parts":[[2019,11,6]],"date-time":"2019-11-06T05:40:00Z","timestamp":1573018800000},"page":"153-166","source":"Crossref","is-referenced-by-count":7,"title":["Real-time PID control of a novel RCM mechanism designed and manufactured for use in laparoscopic surgery"],"prefix":"10.1108","volume":"47","author":[{"given":"Serhat","family":"Aksungur","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Muhammet","family":"Aydin","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"O\u011fuz","family":"Yakut","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"140","reference":[{"first-page":"3301","article-title":"PID control of a robot which developed to use in laparoscopic surgery","year":"2017","key":"key2020032310360698600_ref001"},{"issue":"4","key":"key2020032310360698600_ref002","doi-asserted-by":"crossref","first-page":"65","DOI":"10.18100\/ijamec.2018447789","article-title":"Fuzzy control of laparoscopic surgical robot designed for use in minimally invasive surgery","volume":"6","year":"2018","journal-title":"International Journal of Applied Mathematics, Electronics and Computers"},{"issue":"1","key":"key2020032310360698600_ref003","doi-asserted-by":"crossref","first-page":"89","DOI":"10.1108\/IR-06-2017-0107","article-title":"Real-time control of triglide robot using sliding mode control method","volume":"45","year":"2018","journal-title":"Industrial Robot: An International Journal"},{"issue":"2","key":"key2020032310360698600_ref004","doi-asserted-by":"crossref","first-page":"191","DOI":"10.1155\/2011\/973097","article-title":"Dionis: a novel remote-center-of-motion parallel manipulator for minimally invasive surgery","volume":"8","year":"2011","journal-title":"Applied Bionics and Biomechanics"},{"issue":"1","key":"key2020032310360698600_ref005","doi-asserted-by":"crossref","first-page":"78","DOI":"10.1108\/IR-08-2017-0144","article-title":"Analysis, optimization and prototyping of a parallel RCM mechanism of a surgical robot for craniotomy surgery","volume":"45","year":"2018","journal-title":"Industrial Robot: An International Journal"},{"issue":"4","key":"key2020032310360698600_ref006","doi-asserted-by":"crossref","first-page":"e1801","DOI":"10.1002\/rcs.1801","article-title":"A research review on clinical needs, technical requirements and normativity in the design of surgical robots","volume":"13","year":"2017","journal-title":"The International Journal of Medical Robotics and Computer Assisted Surgery"},{"issue":"6","key":"key2020032310360698600_ref007","doi-asserted-by":"crossref","first-page":"508","DOI":"10.1108\/IR-03-2015-0055","article-title":"State of the art in robots used in minimally invasive surgeries. 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(2009), \u201cCurved RCM of Surgical Robot Arm\u201d, Patent WO 2009\/104853 A1, August 27, 2009."},{"key":"key2020032310360698600_ref023","first-page":"1","article-title":"Enumeration and type synthesis of one-dof remote-center-of-motion mechanisms","volume-title":"12th World Congress in Mechanism and Machine Science (IFToMM2007) in Besan\u00e7on","year":"2007"},{"first-page":"1132","article-title":"A novel RCM mechanism using pneumatically driven flexible joint for laparoscopic forceps holder","year":"2016","key":"key2020032310360698600_ref024"},{"key":"key2020032310360698600_ref025","first-page":"1","article-title":"A mechanism for surgical tool manipulation","volume-title":"9th Asian Control Conference (ASCC)","year":"2013"},{"issue":"12","key":"key2020032310360698600_ref026","doi-asserted-by":"crossref","first-page":"1585","DOI":"10.1016\/j.mechmachtheory.2007.12.008","article-title":"Classification and type synthesis of 1-DoF remote center of motion mechanisms","volume":"43","year":"2008","journal-title":"Mechanism and Machine Theory"},{"key":"key2020032310360698600_ref028","unstructured":"MF634 \u2013 PCI Express multifunction I\/O card (2019), \u201cMF634 \u2013 PCI express multifunction I\/O card\u201d, available at: www.humusoft.cz\/datacq\/mf634\/ (accessed 13 August 2019)."},{"key":"key2020032310360698600_ref029","unstructured":"Simulink Desktop Real-Time\u2122 (2019), \u201cSimulink desktop real-time\u2122\u201d, available at: www.mathworks.com\/products\/simulink-desktop-real-time.html (accessed 13 August 2019)."}],"container-title":["Industrial Robot: the international journal of robotics research and application"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.emerald.com\/insight\/content\/doi\/10.1108\/IR-09-2019-0179\/full\/xml","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/www.emerald.com\/insight\/content\/doi\/10.1108\/IR-09-2019-0179\/full\/html","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,7,24]],"date-time":"2025-07-24T21:39:54Z","timestamp":1753393194000},"score":1,"resource":{"primary":{"URL":"http:\/\/www.emerald.com\/ir\/article\/47\/2\/153-166\/180904"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2019,11,3]]},"references-count":29,"journal-issue":{"issue":"2","published-print":{"date-parts":[[2019,11,3]]}},"alternative-id":["10.1108\/IR-09-2019-0179"],"URL":"https:\/\/doi.org\/10.1108\/ir-09-2019-0179","relation":{},"ISSN":["0143-991X","0143-991X"],"issn-type":[{"type":"print","value":"0143-991X"},{"type":"print","value":"0143-991X"}],"subject":[],"published":{"date-parts":[[2019,11,3]]}}}