SQUIPABOT: A Mesoscale Parallel Robot for a Laser Phonosurgery

This paper presents the design of a mesoscale robot for laser phonosurgery. The proposed design is situated between conventional mechanism and MEMS technology. A combination of compliant structures and innovative micro motors enables to achieve two decoupled tilting angle, a high range (up to 45°) and a precise positioning of a laser beam. The design methodology and the optimization of the compliant structure are detailed. Preliminary results and tests are described which have induced promising performances of the mesoscale robot for laser steering.