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...