Involuntary movements such as heart beating in surgical environment and surgeon's tremor disturb a micro surgical manipulation and cause a risk of patient wound. Although the delicate operation is performed by a skilled surgeon, the sensitivity of the surgeon is limited to quantify the range of safe contact forces. In this paper, we developed a compact hand-held surgical device to maintain a required contact force to maintain a required contact force using a custom force sensor and a linear delta mechanism. The custom optical force sensor measured the contact force of the device tip and the linear delta mechanism compensated undesired forces to maintain a consistent contact force. The proposed device is consisted of force sensing unit and actuating unit. The device was improved from our previous Linear Delta mechanism based prototype in terms of size, weight, and force sensing capability. The developed device was validated by investigation of contact force accuracy in a fixed condition and a hand-held condition. In hand-held condition, the visual feedback of the current contact force was provided, and the performance of the contact force regulation was investigated by comparing the root mean square (RMS) contact force errors and standard deviation in with and without control cases. The fluctuation (less than 50 mN) of the force regulation control of the device showed the feasibility of the device for the use in delicate operations.

Microinjection is the high delivery efficient method of exogenous materials into cells, and it has been widely used in biomedical research areas such as transgenics and genomics. However, this direct injection task is timeconsuming and laborious followed by low throughput and poor reproducibility. This paper describes telerobotic shared control (TSC) framework for the microinjection with high manipulation efficiencies, in which a micromanipulator is controlled by the shared motion commands of both the human operator (teleoperation) and the autonomous controller. To determine the optimal gains between the teleoperation and automation modules, we propose the quantitative evaluation method using Fitts' and steering law. The results showed that about 60% weighting on human operator had better performance for both speed and accuracy of task completion, and suggested the some level of automation or human involvement will be important for the microinjection tasks.

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