Precise multiple wires driven manipulation with visual image measurement

There are various precise spatial manipulators that have been employed in the field micro engineering, medical surgery and biology. For this reason, a lot of researches have been done, and a variety of control methods and mechanisms have been developed. However it is very small cases to give the wider working ranges in XYZ as well as large angular motion to such a scalpel or a syringe under the microscope. Because many spatial manipulators with multi degrees of freedom incorporate with mechanical linkages and the stacked linear stages, thus there are so difficult to implement into the limited space under the instrument. On the other hand, micro actuators are also used for micro manipulation, but the working range is so limited as several micrometer. In this report, we are proposing, designing and developing the simple spatial manipulator capable of controlling the position, the rotation angle φ and the inclined angle θ of the micro tool with multiple parallel wires driven mechanism. In our research, the micro injector can be controlled so that it can face to the small sample with various angular position.