Development of a 5-DOF Hybrid Micro-Manipulator and Implementation to Needle Manipulation Process in Medical Applications


Article Preview

This paper reports the development and preliminary experiments of a robotic system designed to perform needle manipulation tasks in medical applications. A hybrid type manipulator is designed to enlarge the workspace without loss of position accuracy. In this paper, we initially analyze the workspace and step resolution of the robotic system in the operational space. Then, we perform trajectory tracking experiment to verify that the developed robotic system could be employed to attenuate an unpredictable tremor of human operators and enhance position accuracy in neurosurgery or ophthalmic surgery, etc. It is shown through experimentation that the robothuman cooperation mode is effective for micro-manipulation tasks.



Key Engineering Materials (Volumes 326-328)

Edited by:

Soon-Bok Lee and Yun-Jae Kim






G. B. Chung et al., "Development of a 5-DOF Hybrid Micro-Manipulator and Implementation to Needle Manipulation Process in Medical Applications", Key Engineering Materials, Vols. 326-328, pp. 773-776, 2006

Online since:

December 2006




[1] C.N. Riviere, W.T. Ang, P.K. Khosla: IEEE Trans. Robotics and Automation, Vol. 19, No. 5, (2003), pp.793-800.

[2] M. Mitsuishi, S. Tomisaki, T. Yoshidome, H. Hashizume, and K. Fujiwara: IEEE Int. Conf. on Robotics and Automation, (2000), pp.821-830.

[3] S.E. Salcudean, S. Ku, and G. Bell: First joint conference computer vision, virtual reality and robotics in medicine and medical robotics and computer-assisted surgery (1997), pp.789-798.

[4] H. Das, H. Zak, J. Johnson, J. Crouch, and D. Frambach: Computer Assisted Surgery, Vol. 4 (1999), pp.15-25.

[5] R. Taylor, P. Jensen, L. Whitcomb, A. Barnes, R. Kumar, D. Stoianovici, P. Gupta, Z. Wang, E. de Juan, Jr., and L. Kavoussi: Int. J. Robotics Research, Vol. 18, (1999), pp.1201-1210.

DOI: 10.1177/02783649922067807

[6] G.B. Chung, B. -J. Yi, I.H. Suh, W.K. Kim, W. K, Chung: Int. Conf. Intelligent Robots and Systems (2001), pp.337-342.

[7] R.A. Freeman and D. Tesar: Proc. of 20th ASME Mechanisms Conference (1988).

In order to see related information, you need to Login.