Merve Bazman — accepted AI-conference papers

2019

6-Axis Hybrid Sensing and Estimation of Tip Forces/Torques on a Hyper-Redundant Robotic Surgical Instrument

Nural Yilmaz, Merve Bazman, Alaa Alassi, Berke Gur, Ugur Tumerdem

IROS 2019poster

In this paper a hybrid method for estimation of 6 degree-of-freedom (DOF) laparoscopic instrument tip force/torques in robotic-assisted minimally invasive surgery systems is proposed. The method is implemented on an in-house developed hyper-redundant (11-DOF) surgical robotic forceps prototype. This…

Cited by 16 Source ↗Scholar ↗

2018

External Force/Torque Estimation on a Dexterous Parallel Robotic Surgical Instrument Wrist

Nural Yilmaz, Merve Bazman, Ugur Tumerdem

IROS 2018poster

This paper describes a novel sensorless force estimation algorithm for the rigid link parallel wrist mechanism of a robotic surgical instrument. The method utilizes novel reaction force observers (RFOB) in joint space, which are modified disturbance observers (DOB) combined with Neural Networks (NN)…

Cited by 19 Source ↗Scholar ↗