A six degree of freedom micromanipulator for ophthalmic surgery

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...

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Bibliographic Details
Main Authors: Grace, K.W., Colgate, J.E., Glucksberg, M.R., Chun, J.H.
Format: Conference Proceeding
Language:English
Subjects:
End effectors
Glass
Kinematics
Mechanical engineering
Micromanipulators
Needles
Open loop systems
Retina
Surgery
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Summary: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.< >
DOI:10.1109/ROBOT.1993.292049