Nowadays, surgical applications, entering the body through a small incision with laparoscopic procedures are performed and are expanding the use of robots for these operations. In existing systems, conventional robots are used for the body. Surgical procedure is carried out by a separate mechanism which is attached to the end of the robot and robot is used to positioning this mechanism. These mechanisms are called Remote Center of Motion (RCM) mechanism.In this paper, the literature on studies performed about the parallel, spherical and hybrid RCM mechanisms are examined and classified. IntroductıonThe purpose of the RCM mechanism, provide rotating around the incision point to prevent potential damage of the body tissue by the robot. Instruments enter through this incision point into the body with mechanical control and the robot works. For reasons such as robots in the operation field covering many places, the difficulty of controlling and maintenance the robot, focuses on fixing the RCM mechanisms to working area and direct drive. For this purpose, two different mechanisms profile as a parallel and spherical are developed. In addition, the spherical mechanisms are designed in two different profiles as serial and parallel. In the aforementioned method, mechanism is fixing either end of a robotic arm or directly to the working zone. For this reason, it can be said RCM point's position is fixed. However, although body structure during operation assumed to be constant, as a result of very small movements happen resulting from the organism's liveliness, for precision surgical applications, researchers tend to develop mechanisms as RCM point moving. For this purpose, Hybrid (Serial-Parallel) mechanisms have emerged. In the hybrid mechanisms, working around the RCM point performed by the serial module, shift the RCM point is performed by the parallel module. In this way, requiring very small linear movement and host rotate around incision point such as eye operations, surgical success is increases. Parallel RCM MechanismsAs well known, if a link is connected by a revolute joint at its end, all points excluding the axis of the revolute joint in this link are rotated around the axis. In this case, any point on the axis can be considered as a RCM point. This kind of RCM mechanisms is usually acted as a basic component of 2 degree of freedom (DOF) or multi-DOF RCM mechanisms because of its simple structure. The most familiar RCM mechanisms in applications are based on a parallelogram structure, which can easily compose 2-DOF RCM mechanisms. Fig. 1a-f shows a basic configuration of parallelogram-based RCM mechanisms. It is clearly shown that there exist redundant constraints in the EBCD loop. Thus by eliminating "E", "B", "C" and "D" redundant constraints, several other configurations can be derived, as shown sarpectively in Fig. 1b to 1e. In Fig. 1f, it is shown that "E" joint is completely removed. This kind of RCM mechanisms has many advantages such as a relatively large movement range, a simple structure, t...

Parallel to the developing technology and the increasing population, the energy requirement is increasing day by day. Turkey's dependence on foreign sources of energy constitutes a significant budget in terms of energy costs. In this context, in Turkey, renewable energy sources with high potential are gaining importance. Fossil energy sources cause environmental pollution and threaten human health more and more every day. For this reason, the use of renewable energy sources should be encouraged and widespread. With a good energy needs analysis, producer costs will be reduced and efficiency will be increased. Solar energy is an efficient resource in electricity generation. Increase the efficiency of the solar panels used, increases the amount of electricity produced. However, the change in the angle of the sun's rays has an adverse effect on energy production. In this study, it was aimed to increase the efficiency of the solar panels by moving according to angle of sunlight. For this purpose, solar panel was driven by the servo motor and it was directed to the sunlight. Servo motor's PID control was implemented using the MATLAB program. The energy analysis made is given in the results.

Nowadays, the use of robot technologies has become widespread. Robots that have been confronted in many sectors have also been used in surgical operations in recent years. RCM (Remote Center of Motion) mechanisms take the place of these robots, which have less space-consuming and specially designed for operation. Reduced space requirements and lower maintenance costs are the greatest advantages of these mechanisms. In this study, some of the RCM mechanisms which used in surgical operations are mentioned. A unique and original surgical robot designed for laparoscopic surgical purposes which is not in the literature of robots, has been described. This surgical robot was designed with a 3D CAD program and motion of robot was analyzed. Robot control was performed using fuzzy control method. Dynamic equations of robot which used at fuzzy control were obtained with Lagrangian mechanics. MATLAB software has been used for robot control. Used membership function parameters of fuzzy control were optimized with genetic algorithm method. Obtained fuzzy control graphics with MATLAB were given in the result section.

Purpose 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–Integral–Derivative (PID) control method. Design/methodology/approach 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 x, y and z 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. Findings 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 mm. Practical implications 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. Originality/value 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.

Nowadays technology is developing rapidly and the adaptation of emerging technology to daily life is very fast. Within this context, production technologies are developing rapidly and parallel to this production instrument's costs are decreased. In this way, producers can make investments more easily by getting current technology. In parallel with industrial development, some parameters such lost time, labor, raw materials must reduce. When considering expected product variety, especially modification on the produced product is a difficult process. Revising of the production system according to the final product is substantially increased the amount of lost time. In addition, in this revision process previously realized investment is becoming inert and this quite increases costs. It is almost impossible the creation of a separate production line for each product in a company which has a lot of variety of products. Nowadays in this needed speed production process, instead of conventional production systems flexible manufacturing systems began to be preferred in the industry. In this study, functions, components and the overall structures of the flexible manufacturing systems are described. Differences between traditional production systems and flexible manufacturing systems, and the advantages relative to each other were examined. In the study, Flexible Manufacturing Systems Laboratory within the Inonu University Arapgir Vocational High School was taken as an example.