Full metadata record

DC FieldValueLanguage
dc.contributor.authorTrent S. Wells-
dc.contributor.authorRobert A. MacLachlan-
dc.contributor.authorCameron N. Riviere-
dc.identifier.citation, 5670-5673-
dc.description.abstractThis 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.-
dc.publisherAnnual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)-
dc.titlePerformance of a 6-degree-of-freedom active microsurgical manipulator in handheld tasks-
dc.typeConference Paper-
Appears in Collections:
KIST Publication > Conference Paper
Files in This Item:
There are no files associated with this item.
RIS (EndNote)
XLS (Excel)


Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.