Design and control of a parallel linkage wrist for robotic microsurgery

DSpace/Manakin Repository

Design and control of a parallel linkage wrist for robotic microsurgery

Citable link to this page


Title: Design and control of a parallel linkage wrist for robotic microsurgery
Author: Degirmenci, Alperen; Hammond, Frank L.; Gafford, Joshua Ball; Walsh, Conor J; Wood, Robert J.; Howe, Robert D.

Note: Order does not necessarily reflect citation order of authors.

Citation: Degirmenci, Alperen, Frank L. Hammond III, Joshua B. Gafford, Conor J. Walsh, Robert J. Wood, Robert D. Howe. 2015. Design and Control of a Parallel Linkage Wrist for Robotic Microsurgery. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Hamburg, Germany, September 28-October 2, 2015: 222-228. doi: 10.1109/IROS.2015.7353378.
Full Text & Related Files:
Abstract: This paper presents the design and control of a teleoperated robotic system for dexterous micromanipulation tasks at the meso-scale, specifically open microsurgery. Robotic open microsurgery is an unexplored yet potentially a high impact area of surgical robotics. Microsurgical operations, such as microanastomosis of blood vessels and reattachment of nerve fibers, require high levels of manual dexterity and accuracy that surpass human capabilities. A 3-DoF robotic wrist is designed and built based on a spherical five-bar mechanism. The wrist is attached to a 3-axis commercial off-the-shelf linear stage, achieving a fully dexterous system. Design requirements are determined using motion data collected during a simulated microanastomosis operation. The wrist design is optimized to maximize workspace and manipulability. The system is teleoperated using a haptic device, and has the required bandwidth to replicate microsurgical motions. The system was successfully used in a micromanipulation task to stack 1 mm-diameter metal spheres. The micromanipulation system presented here may improve surgical outcomes during open microsurgery by offering better accuracy and dexterity to surgeons.
Published Version: doi:10.1109/iros.2015.7353378
Other Sources:
Terms of Use: This article is made available under the terms and conditions applicable to Open Access Policy Articles, as set forth at
Citable link to this page:
Downloads of this work:

Show full Dublin Core record

This item appears in the following Collection(s)


Search DASH

Advanced Search