Technical Briefs

Measurement System for the Characterization of Micro-Manipulation Motion and Force

[+] Author and Article Information
Robert D. Howe

School of Engineering and Applied Sciences,
Harvard University

Manuscript received March 15, 2013; final manuscript received April 29, 2013; published online July 3, 2013. Assoc. Editor: Arthur G. Erdman.

J. Med. Devices 7(3), 030940 (Jul 03, 2013) (2 pages) Paper No: MED-13-1107; doi: 10.1115/1.4024524 History: Received March 15, 2013; Revised April 29, 2013

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Taylor, R., et al. ., 1999, “A Steady Hand Robotic System for Microsurgical Augmentation,” Int. Journal on Robotics Research, 18(12), pp. 1201–1210. [CrossRef]
Hammond, F., Talbot, S., Wood, R., and Howe, R., 2012, “Data-Driven Design of a Dexterous Robotic Microsurgery System,” Design of Medical Devices Conf., Minneapolis, MN.
Riviere, C., Ang, W., and Khosla, P., 2003, “Towards Active Tremor Canceling in Handheld Microsurgical Instruments,” IEEE Trans. on Robotics and Automation, 19(5), pp. 793–800. [CrossRef]


Grahic Jump Location
Fig. 1

Electromagnetic sensor and accelerometer mounts for surgical instruments

Grahic Jump Location
Fig. 2

Proposed standalone force measurement device with embedded force-torque sensor

Grahic Jump Location
Fig. 3

Angular motion convention and the motion ranges recorded during micromanipulation instrument tracking



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