Design and analysis of 6 DOF handheld micromanipulator
This paper presents the design and analysis of a handheld manipulator for vitreoretinal microsurgery and other biomedical applications. The design involves a parallel micromanipulator utilizing six piezoelectric linear actuators, combining compactness with a large range of motion and relatively high...
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| Veröffentlicht in: | 2012 IEEE International Conference on Robotics and Automation 2012-12, Vol.2012, p.1946-1951 |
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| container_title | 2012 IEEE International Conference on Robotics and Automation |
| container_volume | 2012 |
| creator | Sungwook Yang MacLachlan, R. A. Riviere, C. N. |
| description | This paper presents the design and analysis of a handheld manipulator for vitreoretinal microsurgery and other biomedical applications. The design involves a parallel micromanipulator utilizing six piezoelectric linear actuators, combining compactness with a large range of motion and relatively high stiffness. Given the available force of the actuators, the overall dimension of the micromanipulator was optimized considering realistic external loads on a remote center of motion representing the point of expected contact with the sclera of the eye during microsurgery. Based on optimization and workspace analysis, a benchtop version of the micromanipulator was built with a base diameter of 25 mm and a height of 50 mm. It provides a hemispherical workspace of 4.0 mm diameter at the tool tip. The manipulation performance of the constructed manipulator was measured under a lateral load applied at the remote center of motion. The micromanipulator tolerated side loads up to 200 mN. |
| doi_str_mv | 10.1109/ICRA.2012.6225133 |
| format | Article |
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| fulltext | fulltext_linktorsrc |
| identifier | ISSN: 1050-4729 |
| ispartof | 2012 IEEE International Conference on Robotics and Automation, 2012-12, Vol.2012, p.1946-1951 |
| issn | 1050-4729 2152-4092 2577-087X |
| language | eng |
| recordid | cdi_ieee_primary_6225133 |
| source | IEEE Electronic Library (IEL) Conference Proceedings |
| subjects | Actuators Force Manganese Micromanipulators Needles Springs |
| title | Design and analysis of 6 DOF handheld micromanipulator |
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