Title :
Inverse Kinematic Model of Flexure-Based Microsurgical Manipulator
Author :
Avedillo, Juan García ; Choi, David Y. ; Riviere, Cameron N.
Author_Institution :
Sch. of Eng., Valladolid Univ.
fDate :
6/27/1905 12:00:00 AM
Abstract :
This paper presents the development of an inverse kinematic model for a flexure-based micromanipulator using a feedforward neural network. The manipulator is part of an active handheld instrument designed to cancel hand tremor during microsurgery. The manipulator is actuated using three piezoelectric stacks. Preliminary results yield a mean squared error of 5% of the total stack range of motion, and a maximum error of 14% of the total range of motion
Keywords :
bioMEMS; biomechanics; feedforward neural nets; kinematics; medical control systems; micromanipulators; piezoelectric devices; surgery; active handheld instrument; feedforward neural network; flexure-based microsurgical manipulator; hand tremor; inverse kinematic model; microsurgery; piezoelectric stacks; Feedforward neural networks; Infrared detectors; Instruments; Kinematics; Manipulators; Micromanipulators; Microsurgery; Neural networks; Random number generation; Surgery;
Conference_Titel :
Engineering in Medicine and Biology Society, 2005. IEEE-EMBS 2005. 27th Annual International Conference of the
Conference_Location :
Shanghai
Print_ISBN :
0-7803-8741-4
DOI :
10.1109/IEMBS.2005.1615800
