Design and implementation of a two degree-of-freedom micromanipulation assessment system

Abstract

A two degree-of-freedom (DOF) micro motion sensing system to assess micromanipulation accuracy and physiological tremor has been developed. The system employs a position sensitive detector (PSD) module and a laser diode placed inside an instrument used in micromanipulation. A laser light is shined from the laser diode onto the PSD surface which is faced upward. The PSD detects the centroid position of the laser light spot falling onto its surface. A few markers are overlaid in a circular pattern on the PSD surface as reference for path dependent tests. Ambient light disturbance is eliminated by modulating the laser light on and off. Advantages and limitation of the system comparing to other similar systems are described.

Influence of visual feedback and speed on micromanipulation accuracy

“…The actual position of the laser spot in x and y axes could be obtained using the method discussed in [1].…”

“…A two degree-of-freedom (DOF) contact-free micro motion sensing system was developed to assess hand micromanipulation performance [1]. The system consists of a PSD module (DL100-7PCBA3), a red laser diode (UT5-3.5G-650; 650nm, 3.5mW), Leica M651 table-top surgical operating microscope, a set of PC with LCD monitor, and data acquisition (DAQ) card (PD2-MF-150) slotted inside the PC motherboard to capture voltage outputs from PSD.…”

“…imitations on human accuracy have imposed restrictions in microsurgery applications, such as in eye, hand and neurosurgery [1]. These limitations are primarily due to small involuntary movements that are inherent in hand motion, one of which is known as physiological tremor.…”