Development of a 5-DOF Hybrid Micro-Manipulator and Implementation to Needle Manipulation Process in Medical Applications

Goo Bong Chung; Jae Heon Chung; Dong Gul Choi; Byung Ju Yi; Seok Young Han; Seon Jung Kim

doi:10.4028/www.scientific.net/KEM.326-328.773

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Development of a 5-DOF Hybrid Micro-Manipulator and Implementation to Needle Manipulation Process in Medical Applications
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HomeKey Engineering MaterialsKey Engineering Materials Vols. 326-328Development of a 5-DOF Hybrid Micro-Manipulator...

Development of a 5-DOF Hybrid Micro-Manipulator and Implementation to Needle Manipulation Process in Medical Applications

Abstract:

This paper reports the development and preliminary experiments of a robotic system designed to perform needle manipulation tasks in medical applications. A hybrid type manipulator is designed to enlarge the workspace without loss of position accuracy. In this paper, we initially analyze the workspace and step resolution of the robotic system in the operational space. Then, we perform trajectory tracking experiment to verify that the developed robotic system could be employed to attenuate an unpredictable tremor of human operators and enhance position accuracy in neurosurgery or ophthalmic surgery, etc. It is shown through experimentation that the robothuman cooperation mode is effective for micro-manipulation tasks.

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Periodical:

Key Engineering Materials (Volumes 326-328)

Pages:

773-776

DOI:

https://doi.org/10.4028/www.scientific.net/KEM.326-328.773

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Online since:

December 2006

Authors:

Goo Bong Chung, Jae Heon Chung, Dong Gul Choi, Byung Ju Yi, Seok Young Han, Seon Jung Kim

Keywords:

Micro-Manipulator, Microsurgery, Needle Manipulation

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