Flexure-based Manipulator for Active Handheld Microsurgical Instrument
Conference Paper, Proceedings of 27th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC '05), pp. 5085 - 5088, September, 2005
Abstract
This paper presents the design and initial experimental results of a flexure-based parallel manipulator that is actuated by three piezoelectric stacks. The manipulator is for an active handheld tremor canceling device for microsurgery. By using flexures to approximate pin and ball joints, errors due to friction, backlash, and imperfect assemblies have been eliminated. The results show that the manipulator is capable of tracking motions similar to physiological tremor in amplitude and frequency. The workspace of the manipulator is more than 7 times larger than the tremor space in the x and y axes, and about 1.5 times larger in the z axis. One dimensional and three dimensional tracking tests had rms errors of 6.5 ? and 12.1 ? respectively.
BibTeX
@conference{Choi-2005-9295,author = {David Choi and Cameron Riviere},
title = {Flexure-based Manipulator for Active Handheld Microsurgical Instrument},
booktitle = {Proceedings of 27th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC '05)},
year = {2005},
month = {September},
pages = {5085 - 5088},
}
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