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Integration of microsensor for microsurgery robot’s end-effector |
| HU Yida1, LI Dazhai1, YANG Yang1, SUN Xuguang2 |
| 1.Robotic Institute, Beihang University, Beijing 100083, China; 2.Beijing Ophthalmology Institute, Tongren Hospital, Beijing 100730, China |
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Abstract To enhance the effect of robotic microsurgery, the microsensors are integrated on the robot s end-effector. On the basis of the requirements presented for the integration design, measuring mechanism for the robotic end trephine s force and cutting depth are studied. Force microsensor and position microsensor are used to measure surgical information of the force and depth. Measuring mechanism was achieved by means of linear sliding bearing and differential measuring structure. The sensor data board was developed. With the power spectral estimation of sensor data, two digital filtering methods are proposed, to help eliminate the interference to the original microsensor signal. They are the filtering method of lowpass-bandstop serial structure suitable for a PC, and a shift average filtering algorithm suitable for the sensor data board, respectively. The experimental results show that the integration of microsensors for microsurgery robot s end-effector can satisfy the design requirements, and the robotic end trephine can accurately fulfill the surgical task of corneal cutting.
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Issue Date: 05 June 2007
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