Manipulator design and operation of a six-degree-of-freedom handheld tremor-cancelling microsurgical instrument

Sungwook Yang, Robert MacLachlan and Cameron Riviere
Journal Article, Carnegie Mellon University, IEEE/ASME Transactions on Mechatronics, Vol. 20, No. 2, pp. 761-772, April, 2015

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This paper presents the design and actuation of a six-degree-of-freedom (6-DOF) manipulator for a handheld instrument, known as “Micron,” which performs active tremor compensation during microsurgery. The design incorporates a Gough-Stewart platform based on piezoelectric linear motors, with a specified minimum workspace of a cylinder 4 mm long and 4 mm in diameter at the end-effector. Given the stall force of the motors and the loading typically encountered in vitreoretinal microsurgery, the dimensions of the manipulator are optimized to tolerate a transverse load of 0.2 N on a remote center of motion near the midpoint of the tool shaft. The optimization yields a base diameter of 23 mm and a height of 37 mm. The fully handheld instrument includes a custom-built optical tracking system for control feedback, and an ergonomic housing to serve as a handle. The manipulation performance was investigated in both clamped and handheld conditions. In positioning experiments with varying side loads, the manipulator tolerates a side load up to 0.25 N while tracking a sinusoidal target trajectory with less than 20 µm error. Physiological hand tremor is reduced by about 90% in a pointing task, and error less than 25 µm is achieved in handheld circle-tracing.

author = {Sungwook Yang and Robert MacLachlan and Cameron Riviere},
title = {Manipulator design and operation of a six-degree-of-freedom handheld tremor-cancelling microsurgical instrument},
journal = {IEEE/ASME Transactions on Mechatronics},
year = {2015},
month = {April},
volume = {20},
number = {2},
pages = {761-772},
} 2018-06-11T12:24:15-04:00