Design and Control of Fully Handheld Microsurgical Robot for Active Tremor Cancellation
Eunchan Kim,Ingu Choi,Sungwook Yang,Eunchan Kim,Ingu Choi,Sungwook Yang
This paper presents the design and control of a fully handheld robot for robot-assisted microsurgery. The handheld robot incorporates a miniature 6-PUS parallel micromanipulator that can impose a remote center of motion (RCM) at the incision point of entry during microsurgery. An optimization framework is formulated to determine the geometric parameters of the micromanipulator. The optimization ai...