Fine manipulation and precise movements are essential in any type of microsurgery. In manipulation of delicate tissue such as nerves, strain rate has been shown to be a factor in the extent of damage to tissue [1]. Hence, there is a need to limit the maximum permitted velocity of the tool tip.

Such a limitation can be enforced without losing the benefits of direct manual manipulation (e.g., tactile feedback, intuitive control, and low cost) by using an actuated handheld instrument. One such instrument is Micron, originally developed for active compensation of hand tremor during microsurgery. The current version of Micron is a six-degree-of-freedom system, with a Gough–Stewart platform manipulator for its tip [2]. The mechanism is shown in Fig. 1. The actuators are ultrasonic linear motors (SQL-1.8-RV Squiggle motor, New Scale Technologies, Inc., Victor, NY). The device has two sets...

References

References
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Yang
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