Title

A Study on Smart 3-DOF Parallel Micromanipulator

Alternative Title

스마트 3 자유도 병렬 마이크로매니퓰레이터에 대한 연구

DGIST Authors

Jiyeon Baik ; Cheol Song ; Sukho Park

Advisor

송철

Co-Advisor(s)

Sukho Park

Issued Date

2021

Awarded Date

2021/02

Citation

Jiyeon Baik. (2021). A Study on Smart 3-DOF Parallel Micromanipulator. doi: 10.22677/thesis.200000364675

Type

Thesis

Subject

Parallel manipulator, remote center of motion mechanism, 병렬 매니퓰레이터, 움직임의 원격 중심(RCM)

Table Of Contents

I. INTRODUCTION 1
1.1 Introduction of vitreoretinal surgery 1
1.2 Previous studies of surgical robots for vitreoretinal surgery 3
1.3 Remote Center of Motion (RCM) mechanism 5
1.4 Advantages and disadvantages of current robots 7
1.5 Study Purpose 8
II. SYSTEM DESIGN 9
2.1 Requirements of handheld manipulators 9
2.2 Design of 3-DOF manipulator 10
2.3 Kinematics of the 3-DOF manipulator 12
2.4 Control algorithm 18
III. EXPERIMENTS AND RESULTS 26
3.1 Experiment materials 26
3.2 RCM accuracy test 27
3.3 Hand tremor reduction 28
3.4 Control algorithm 31
IV. DISCUSSION 33
V. CONCLUSION 35
References 36

URI

http://dgist.dcollection.net/common/orgView/200000364675
http://hdl.handle.net/20.500.11750/16702

DOI

10.22677/thesis.200000364675

Degree

Master

Department

Robotics Engineering

Publisher

DGIST

Show Full Item Record