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Dexterity enhancement in microsurgery using a microgripper and motion-scaling system

University of British Columbia

The design and control of a six-degree-of-freedom (6-DOF) force-reflecting motion-scaling teleoperation system was presented in [1]. In this thesis, a remotely controlled microgripper is developed as an end-effector for this system. The device features small size and weight, and large stroke and force compared to other designs. A stylus-shaped teleoperation master that measures the force at the fingers of the operator provides an intuitive means for operating the microgripper. This design also enables the microgripper to be used as a hand-held instrument. Force sensing enables the accurate measurement and control of tool-tissue forces, as well as the emulation of different mechanical devices. Issues concerning the design, control, and application to microsurgical tasks are addressed here. 6-DOF force/torque sensing has also been added to the teleoperation system, enabling the use of hand and environment forces to improve teleoperation transparency, and enabling the measurement of forces during microsurgery. Several methods for teleoperation control have been implemented, and their potential use in microsurgery is discussed. In addition, experiments have been conducted to quantify the effects of scaled motion and scaled force feedback on teleoperation performance in tasks involving sub-millimetre motions and contact forces from 3 to 15 grams. Significant improvements in accuracy of task execution as well as operator confidence and fatigue were observed when scaled motion and scaled force feedback were provided.

Thesis/Dissertation

application/pdf

2009-02-10

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http://hdl.handle.net/2429/4375

Electrical and Computer Engineering

University of British Columbia

UBCV

DSpace