Title :
Medical robots and micro machines
Author :
Hunter, Ian W. ; Lafontaine, Serge R. ; Brenan, Colin J H ; Jones, Lynette A.
Author_Institution :
Dept. of Mech. Eng., MIT, Cambridge, MA, USA
Abstract :
Over the past 10 years we have developed micro-motion robots and micro-surgical robots for use in surgery on single living cells and populations of cells (tissue). These devices were designed to have both wide displacement bandwidths and high displacement dynamic ranges. Parallel drive beam bending mechanisms were developed together with displacement transducers able to transduce the high displacement dynamic range×bandwidth products that arise. High performance force reflecting human interfaces have also been developed to enable human control of the robots. Future work involves the development of new technologies for producing powerful autonomous micro-robots capable of moving within the human body
Keywords :
biocontrol; biomedical equipment; displacement control; displacement measurement; force control; intelligent control; microactuators; microsensors; muscle; patient treatment; robot vision; surgery; tactile sensors; Lorentz force actuators; activated muscle; autonomous microrobots; biochemical 3D microimaging; displacement control; displacement transducers; drug delivery; force control; force feedback; force reflecting human interfaces; high displacement dynamic ranges; high performance; human control; medical robots; micromachines; micromotion robots; microsurgical robots; parallel drive beam bending mechanisms; populations of cells; servocontrol; single living cells; tethered microrobots; wide displacement bandwidths; Bandwidth; Diffraction; Dynamic range; Fiber lasers; Humans; Laser beams; Medical robotics; Muscles; Optical fiber devices; Robots;
Conference_Titel :
Micro Machine and Human Science, 1995. MHS '95., Proceedings of the Sixth International Symposium on
Conference_Location :
Nagoya
Print_ISBN :
0-7803-2676-8
DOI :
10.1109/MHS.1995.494213
