Performance of a 6-degree-of-freedom active microsurgical manipulator in handheld tasks

Title
Performance of a 6-degree-of-freedom active microsurgical manipulator in handheld tasks
Authors
양성욱Trent S. WellsRobert A. MacLachlanCameron N. Riviere
Issue Date
2013-07
Publisher
Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)
Citation
, 5670-5673
Abstract
This paper presents the first experimental results from human users of a new 6-degree-of-freedom handheld micromanipulator. This is the latest prototype of a fully-handheld system, known as “Micron,” which performs active compensation of hand tremor for microsurgery. The manipulator is a miniature Gough-Stewart platform incorporating linear ultrasonic motors that provide a cylindrical workspace 4 mm long and 4 mm wide. In addition, the platform allows the possibility of imposing a remote center of motion for controlling motion not only at the tip but also at the entry point in the sclera of the eye. We demonstrate hand tremor reduction in both static and dynamic micromanipulation tasks on a rubber pad. The handheld performance is also evaluated in an artificial eye model while imposing a remote center of motion. In all cases, hand tremor is significantly reduced.
URI
http://pubs.kist.re.kr/handle/201004/58251
Appears in Collections:
KIST Publication > Conference Paper
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