ArticleIEEE/ASME transactions on mechatronics : a joint publication of the IEEE Industrial Electronics Society and the ASME Dynamic Systems and Control Division2015
Manipulator Design and Operation for a Six-Degree-of-Freedom Handheld Tremor-Canceling Microsurgical Instrument.
Article in IEEE/ASME transactions on mechatronics : a joint publication of the IEEE Industrial Electronics Society and the ASME Dynamic Systems and Control Division, 2015. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 37 papers, 1 of them a synthesis that pooled it.
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Who cites it
37 citing papers in PubMed, 1 synthesis or guideline pooled it.
- Overcoming the impact of physiologic tremors in ophthalmology.Graefe's archive for clinical and experimental ophthalmology = Albrecht von Graefes Archiv fur klinische und experimentelle Ophthalmologie · 2022Pooled it
- Analytical Kinematic Model and RCM Control of a Parallel-Serial Steady-Hand Eye Robot.Journal of mechanisms and robotics · 2026Article
- Landau level and active manipulation of elastic waves in topological robotic metamaterials.Science advances · 2026Article
- Magnification-Invariant Retinal Distance Estimation for Vitreoretinal Surgery Using a Laser Aiming Beam.The international journal of medical robotics + computer assisted surgery : MRCAS · 2025Article
- Will your next surgeon be a robot? Autonomy and AI in robotic surgery.Science robotics · 2025Review
- Advancements in robotic surgery for vitreoretinal diseases: current trends and the future.Japanese journal of ophthalmology · 2025Review
- Motor-Free Soft Robots for Cancer Detection, Surgery, and In Situ Bioprinting.Advanced healthcare materials · 2025Article
- Robotics and optical coherence tomography: current works and future perspectives [Invited].Biomedical optics express · 2025Review
- Evaluation of (Shared) Autonomy in Robot-Assisted Vitreoretinal Surgery Using a Surgical Model.The international journal of medical robotics + computer assisted surgery : MRCAS · 2025Article
- Bedside Admittance Control of a Dual-Segment Soft Robot for Catheter-Based Interventions.Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual International Conference · 2024Article
- A Feasible Workflow for Retinal Vein Cannulation in Ex Vivo Porcine Eyes with Robotic Assistance.Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual International Conference · 2024Article
- Design and Evaluation of an Eye Mountable AutoDALK Robot for Deep Anterior Lamellar Keratoplasty.Micromachines · 2024Article
- Autonomous Needle Navigation in Subretinal Injections via iOCT.IEEE robotics and automation letters · 2024Article
- Steady-Hand Eye Robot 3.0: Optimization and Benchtop Evaluation for Subretinal Injection.IEEE transactions on medical robotics and bionics · 2024Article
- Microsurgery Robots: Applications, Design, and Development.Sensors (Basel, Switzerland) · 2023Review
- Human-Robot Interaction in Retinal Surgery: A Comparative Study of Serial and Parallel Cooperative Robots.RO-MAN ... : the ... IEEE International Symposium on Robot and Human Interactive Communication : proceedings. IEEE International Symposium on Robot and Human Interactive Communication · 2023Article
- Evaluation of the Hand Motion and Peeling Force in Inner Limiting Membrane Peeling.Translational vision science & technology · 2023Article
- Robotic Assistance for Intraocular Microsurgery: Challenges and Perspectives.Proceedings of the IEEE. Institute of Electrical and Electronics Engineers · 2022Article
- Force and Velocity Based Puncture Detection in Robot Assisted Retinal Vein Cannulation: In-Vivo Study.IEEE transactions on bio-medical engineering · 2022Article
- Towards a Clinically Optimized Tilt Mechanism for Bilateral Micromanipulation with Steady-Hand Eye Robot.... International Symposium on Medical Robotics. International Symposium on Medical Robotics · 2021Article
Corrections and comments
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Authors and funding
3 authors.
Funding
Abstract
This paper presents the design and actuation of a six-degree-of-freedom (6-DOF) manipulator for a handheld instrument, known as "Micron," which performs active tremor compensation during microsurgery. The design incorporates a Gough-Stewart platform based on piezoelectric linear motor, with a specified minimum workspace of a cylinder 4 mm long and 4 mm in diameter at the end-effector. Given the stall force of the motors and the loading typically encountered in vitreoretinal microsurgery, the dimensions of the manipulator are optimized to tolerate a transverse load of 0.2 N on a remote center of motion near the midpoint of the tool shaft. The optimization yields a base diameter of 23 mm and a height of 37 mm. The fully handheld instrument includes a custom-built optical tracking system for control feedback, and an ergonomic housing to serve as a handle. The manipulation performance was investigated in both clamped and handheld conditions. In positioning experiments with varying side loads, the manipulator tolerates side load up to 0.25 N while tracking a sinusoidal target trajectory with less than 20 μm error. Physiological hand tremor is reduced by about 90% in a pointing task, and error less than 25 μm is achieved in handheld circle-tracing.
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Registered trials
Read under generation 80e0d062 · epoch 390. Bibliography from PubMed, PubMed Central and OpenAlex; grants from NIH RePORTER; trial links from ClinicalTrials.gov; estimates, votes and beliefs from the OpenQuestion graph.