ICRA 2012 Paper Abstract


Paper WeA03.5

Yang, Sungwook (Carnegie Mellon University), MacLachlan, Robert A. (Carnegie Mellon University), Riviere, Cameron (Carnegie Mellon University)

Design and Analysis of 6 DOF Handheld Micromanipulator

Scheduled for presentation during the Regular Session "Medical Robotics I" (WeA03), Wednesday, May 16, 2012, 09:30−09:45, Meeting Room 3 (Mak'to)

2012 IEEE International Conference on Robotics and Automation, May 14-18, 2012, RiverCentre, Saint Paul, Minnesota, USA

This information is tentative and subject to change. Compiled on November 14, 2018

Keywords Mechanism Design of Manipulators, Medical Robots and Systems, Dexterous Manipulation


This paper presents the design and analysis of a handheld manipulator for vitreoretinal microsurgery and other biomedical applications. The design involves a parallel micromanipulator utilizing six piezoelectric linear actuators, combining compactness with a large range of motion and relatively high stiffness. Given the available force of the actuators, the overall dimension of the micromanipulator was optimized considering realistic external loads on a remote center of motion representing the point of expected contact with the sclera of the eye during microsurgery. Based on optimization and workspace analysis, a benchtop version of the micromanipulator was built with a base diameter of 25 mm and a height of 50 mm. It provides a hemispherical workspace of 4.0 mm diameter at the tool tip. The manipulation performance of the constructed manipulator was measured under a lateral load applied at the remote center of motion. The micromanipulator tolerated side loads up to 200 mN.



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