Inverse Kinematic Model of Flexure-Based Microsurgical Manipulator

J.G. Avedillo, David Choi, and Cameron Riviere
Proceedings of the 27th Annual International Conference of the Engineering in Medicine and Biology Society (EMBS 2005), September, 2005, pp. 5775 - 5777.


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Abstract
This paper presents the development of an inverse kinematic model for a flexure-based micromanipulator using a feedforward neural network. The manipulator is part of an active handheld instrument designed to cancel hand tremor during microsurgery. The manipulator is actuated using three piezoelectric stacks. Preliminary results yield a mean squared error of 5% of the total stack range of motion, and a maximum error of 14% of the total range of motion.

Notes
Associated Center(s) / Consortia: Medical Robotics Technology Center
Associated Lab(s) / Group(s): Surgical Mechatronics Laboratory
Associated Project(s): Micron: Intelligent Microsurgical Instruments
Number of pages: 3

Text Reference
J.G. Avedillo, David Choi, and Cameron Riviere, "Inverse Kinematic Model of Flexure-Based Microsurgical Manipulator," Proceedings of the 27th Annual International Conference of the Engineering in Medicine and Biology Society (EMBS 2005), September, 2005, pp. 5775 - 5777.

BibTeX Reference
@inproceedings{Choi_2005_5616,
   author = "J.G. Avedillo and David Choi and Cameron Riviere",
   title = "Inverse Kinematic Model of Flexure-Based Microsurgical Manipulator",
   booktitle = "Proceedings of the 27th Annual International Conference of the Engineering in Medicine and Biology Society (EMBS 2005)",
   pages = "5775 - 5777",
   month = "September",
   year = "2005",
}