Multi-degree-of-freedom ultra-precision manipulator

Multi-Degree-of-Freedom Ultra-Precision Manipulation Device

This technology is a 3-degree-of-freedom microsurgical manipulation and control system that utilizes multiple motors and a linkage structure to perform axial movement (distance/angle adjustment) and radial movement (precision targeting) of surgical instruments.

During retinal surgery, surgical instruments often enter at an acute angle rather than perpendicular to the retinal surface, which increases the risk of retinal damage and errors caused by hand tremors.

This technology implements 3-degree-of-freedom control using three motors. It calculates the coordinates of the surgical instrument tip relative to the target insertion point using angle sensors, a light source (for distance measurement), and an imaging unit to precisely calibrate position and angle. Applicable to surgical robots, interventional systems, and medical automation, it improves control precision and provides users with greater convenience when maneuvering surgical instruments.

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Key Features:

• Microsurgical manipulator featuring a first and second actuator housed within a casing
• A third actuator rotatably connected to the underside of the first and second actuators
• A surgical instrument connected to the lower part of the third actuator for approaching the target object
• Configuration where the first and second actuators move the surgical instrument axially, and the third actuator moves it radially

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This invention was developed with support from the Ministry of Science and ICT for the Multi-Degree-of-Freedom Sensing and Actuation-Based Bimanual Ultra-Precision Surgery Platform project.