Six degree of freedom micromanipulator for ophthalmic surgery

Kenneth W. Grace*, Ed Colgate, Matthew R Glucksberg, John H. Chun

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contribution

63 Scopus citations

Abstract

Needs which have arisen in ophthalmic research have motivated the development of a six degree of freedom parallel micromanipulator. The first application of the tool will be in the treatment of retinal venous occlusion, for which micron-scale spherical movement of a glass micropipette tip inside the eye is required. The initial operation mode will be open loop while future operation will be in a force-reflecting bilateral (macro-master / micro-slave) arrangement. Presented here are some of the design criteria, the mathematical tools used in evaluating various parallel manipulator designs, and the final kinematic configuration.

Original languageEnglish (US)
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
Editors Anon
PublisherPubl by IEEE
Pages630-635
Number of pages6
Volume1
ISBN (Print)0818634529
StatePublished - Jan 1 1993
EventProceedings of the IEEE International Conference on Robotics and Automation - Atlanta, GA, USA
Duration: May 2 1993May 6 1993

Other

OtherProceedings of the IEEE International Conference on Robotics and Automation
CityAtlanta, GA, USA
Period5/2/935/6/93

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering

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    Grace, K. W., Colgate, E., Glucksberg, M. R., & Chun, J. H. (1993). Six degree of freedom micromanipulator for ophthalmic surgery. In Anon (Ed.), Proceedings - IEEE International Conference on Robotics and Automation (Vol. 1, pp. 630-635). Publ by IEEE.