An Active Hand-held Micromanipulator

描述（由申请人提供）：本项目旨在创建一种手持式主动仪器，用于手动微操作，通过产生其自身尖端的相等但相反的偏转来补偿生理手部震颤和其他意外运动，使定位精度达到约10 l_m。这种我们命名为“Micron”的手持式仪器将能够在许多任务中取代自动微操纵器。该仪器将实现对震颤和非震颤运动误差的滤波算法。该装置既可用于细胞生物学实验室的显微注射和显微操作，也可用于临床显微外科手术（特别是玻璃体视网膜），因此与基础科学和临床应用相关。探索性研究（R21）阶段现已接近完成，已经产生了一个完全可操作的原型，并证明了有效误差消除到大约28 μ m p-p （12 μ m rms）的水平。探索阶段还表明，这种应用的严格精度要求对研究提出了不同寻常的要求，特别是在仪器尖端运动的传感方面。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。本文提出的研究将涉及先进的设计发展，运动学计算和零相位滤波概念的发展，以实现足够的传感精度。尖端微机械臂的设计也将进行修改，以纳入新的最小滞后驱动方案，以及使用应变计传感的闭环控制。初始试验将使用机动试验台进行。然后，该仪器将在实际环境中进行现场测试。实验试验将在细胞生物学实验室进行。临床前显微外科评估将在外科实践套房进行。这将包括尸体猪眼的体外试验，以及动物体内实验。

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.