An Active Hand-held Micromanipulator

描述(申请人提供)：该项目旨在创造一种用于手动微操作的手持式主动仪器，通过使其尖端产生相等但相反的偏转来补偿生理性手部颤动和其他意外运动，从而使定位精度达到约10 L米。因此，我们将这种手持式仪器命名为“微米”，将能够在许多任务中取代自动微操作器。该仪器将实现针对颤动和非颤动运动误差的过滤算法。该设备既可用于细胞生物学实验室的显微注射和微操作，也可用于临床显微手术(特别是玻璃体视网膜)，因此与基础科学和临床应用都相关。即将完成的探索性研究(R21)阶段已经产生了一个完全可操作的原型，并展示了有效误差抵消到大约28mp-p(12mRMS)的水平。探索阶段还表明，这一应用的严格精度要求对研究提出了不寻常的要求，特别是在检测仪器尖端运动方面。如果要达到10 L m p-p噪声的目标，则不能使用机器人应用中典型的运动学近似类型。这里提出的研究将涉及先进的设计开发、运动学计算和零相滤波概念的开发，以实现足够的传感精度。TIP微操作器的设计也将进行修改，以纳入新的最小滞后IS驱动方案，以及使用应变计传感的闭环控制。初步测试将使用机动试验台进行。然后，该仪器将在现实环境中进行现场测试。实验试验将在细胞生物学实验室与人类使用者一起进行。临床前显微外科评估将在外科实践套件中进行。这将包括用身体猪眼进行体外测试，以及体内的动物实验。

DESCRIPTION (provided by applicant): This project aims to create a hand-held active instrument for manual micromanipulation that compensates physiological hand tremor and other unintended motion by generating an equal but opposite deflection of its own tip, enabling positioning accuracy of approximately 10 l_m. This hand-held instrument, which we have named "Micron," will thus be able to replace automated micromanipulators for many tasks. The instrument will implement filtering algorithms for both tremor and non-tremulous movement errors. The device is designed both for microinjection and micromanipulation in the cell biology laboratory, and for clinical microsurgery (especially vitreoretinal), and is therefore relevant to both basic science and clinical applications. An exploratory research (R21) phase, now nearing completion, has resulted in a fully operational prototype and a demonstration of effective error canceling to the level of roughly 28 _m p-p (12 _m rms). The exploratory phase has also revealed that the stringent accuracy requirement of this application places unusual demands on the research, particularly in sensing of the instrument tip motion. If the goal of 10 l_m p-p noise is to be reached, the types of kinematic approximations that are typical in robotic applications cannot be used. The research proposed herein will involve advanced design developments, kinematic computations, and development of zero-phase filtering concepts to enable sufficient sensing accuracy. The tip micromanipulator design will also be modified to incorporate a new minimal-hysteres is actuation scheme, as well as closed-loop control using strain gauge sensing. Initial tests will be conducted using a motorized testbed. The instrument will then be field tested in realistic settings. Experimental trials will be conducted with human users in the cell biology laboratory. Preclinical microsurgical evaluation will be conducted in the surgical practice suite. This will include tests in vitro with cadaveric porcine eyes, as well as animal experiments in vivo.