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 |