Abstract
We report the development of a new six degree-of-freedom (d.o.f.) manipulator. This robot and its task-space controls enable relative tip positioning to better than 25 microns over a singularity-free work volume exceeding 20 cubic centimeters. By virtue of an innovative cable drive design, the robot has zero backlash in five joints and can sustain full extent loads of over three pounds. The robot is applicable to both fine motion manipulation of microsurgical tools and also dexterous handling of larger powered devices for minimally invasive surgery. Our current development emphasis is a teleoperated system for dexterity-enhanced microsurgeries; we believe the new robot will also have useful applications in computer assisted surgeries, e.g. image-guided therapies. In this brief paper, we outline the robot mechanical design, controls implementation, and preliminary evaluations. Our accompanying oral presentation includes a five minute videotape that illustrates engineering laboratory results achieved to date.
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Schenker, P.S., Das, H., Ohm, T.R. (1995). A New Robot for High Dexterity Microsurgery. In: Ayache, N. (eds) Computer Vision, Virtual Reality and Robotics in Medicine. CVRMed 1995. Lecture Notes in Computer Science, vol 905. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-49197-2_13
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DOI: https://doi.org/10.1007/978-3-540-49197-2_13
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