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| Title | Design and control of a teleoperated microgripper for microsurgery |
| Publication Type | Conference Paper |
| Year of Publication | 1996 |
| Authors | Ku, S., and S. E. Salcudean |
| Conference Name | Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on |
| Pagination | 889 -894 vol.1 |
| Date Published | apr. |
| Keywords | end-effector, force sensing, force-reflecting motion-scaling system, manipulators, micromechanical devices, microsurgery, sensors, surgery, teleoperated microgripper, telerobotics |
| Abstract | A remotely controlled microgripper has been developed as an end-effector for a six-degree-of-freedom force-reflecting motion-scaling system. The microgripper is small and lightweight, and features relatively high force and stroke compared to other designs. Furthermore, force sensing enables the accurate measurement and control of tool-tissue forces, and the emulation of different mechanical devices. This paper presents the design of the microgripper and describes some control methods that have been implemented |
| URL | http://dx.doi.org/10.1109/ROBOT.1996.503885 |
| DOI | 10.1109/ROBOT.1996.503885 |