Design and control of a teleoperated microgripper for microsurgery

  title={Design and control of a teleoperated microgripper for microsurgery},
  author={S. Ku and Septimiu E. Salcudean},
A remotely controlled microgripper has been developed as an end-eeector for a six-degree-of-freedom force-reeecting motion-scaling system. The microgrip-per is small and lightweight, and features relatively high force and stroke compared to other designs. Furthermore , force sensing enables the accurate measurement and control of tool-tissue forces, and the em-ulation of diierent mechanical devices. This paper presents the design of the microgripper and describes some control methods that have… CONTINUE READING