Title :
A six degree of freedom micromanipulator for ophthalmic surgery
Author :
Grace, Kenneth W. ; Colgate, J. Edward ; Glucksberg, Matthew R. ; Chun, John H.
Author_Institution :
Northwestern Univ., Evanston, IL, USA
Abstract :
Needs which have arisen in ophthalmic research have motivated the development of a six-degree-of-freedom parallel micromanipulator. The first application of the tool will be in the treatment of retinal venous occlusion, for which micron-scale spherical movement of a glass micropipette tip inside the eye is required. The initial operation mode will be open loop, while future operation will be in a force-reflecting bilateral (macro-master/micro-slave) arrangement. Presented here are some of the design criteria, the mathematical tools used in evaluating various parallel manipulator designs, and the final kinematic configuration
Keywords :
biomedical equipment; eye; micromechanical devices; robots; surgery; 6-d.o.f. manipulator; eye; force-reflecting bilateral control; glass micropipette tip; kinematic configuration; master/slave control; micron-scale spherical movement; open loop operation; ophthalmic surgery; retinal venous occlusion; robot; six-degree-of-freedom parallel micromanipulator; End effectors; Glass; Kinematics; Mechanical engineering; Micromanipulators; Needles; Open loop systems; Retina; Surgery; Tracking;
Conference_Titel :
Robotics and Automation, 1993. Proceedings., 1993 IEEE International Conference on
Conference_Location :
Atlanta, GA
Print_ISBN :
0-8186-3450-2
DOI :
10.1109/ROBOT.1993.292049
