Laser surgery requires accurate following of a path defined by the surgeon, while the velocity on this path is dependent on the laser-tissue interaction. Therefore, path following and velocity profile control must be decoupled. In this paper, nonholonomic control of the unicycle model is used to implement velocityindependent visual path following for laser surgery. The proposed controller was tested in simulation, as well as experimentally in several conditions of use: different initial velocities (step input, successive step inputs, sinusoidal inputs), optimized/nonoptimized gains, time-varying path (simulating a patient breathing), and complex curves with curvatures. Thereby, experiments at 587 Hz (frames/s) show an average accuracy lower than 0.22 pixels (∼10 μm) with a standard deviation of 0.55 pixels (∼25 μm) path following, and a relative velocity distortion of less than 10 −6 %.

Micro-manipulation plays a key role in the development of complex and assembled micro-systems. However, current micro-manipulation solutions are often limited to small rotation amplitudes and to simple shaped objects (such as cubes). Our approach consists in developing in-hand micro-manipulation techniques using dexterous micro-hands to manipulate arbitrary shaped objects and to perform large rotations. This paper focuses on the trajectory generation of a dexterous micro-hand to achieve automated repositioning by taking advantage of adhesion forces. The results on the generated trajectories show that adhesion forces can be exploited to enhance the manipulation possibilities. Moreover, experiments show that planed rotations are performed at more than 95% using an open loop control. Dexterous micro-manipulation is a promising way to perform complex manipulation tasks in micro-scale.