Design and preliminary test results of a novel microsurgical telemanipulator system

R. Cau, F.B.F. Schoenmakers, M. Steinbuch, T.J.M. Mulken, van, R.R.W.J. Hulst, van der

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

5 Citations (Scopus)
9 Downloads (Pure)


In this paper a novel telemanipulator system is proposed, able to assist during reconstructive surgery procedures involving microsurgical techniques. The proposed solution is based on maintaining work methods and infrastructure in the operating room (OR). An extensive analysis of these conventional methodologies, combined with a review of currently available alternative solutions, has led to the design of a new 7DOF master-slave system. The modular design concept is focused on precision, safety, ease-of-use, and cost-efficiency. A proof-of-concept has been tested, whereas preliminary results indicate a bidirectional precision at the slave end effector of 70 µm. Through optimization of the control software, a bidirectional precision down to 30-40 µm can be achieved.
Original languageEnglish
Title of host publicationProceedings of the2014 5th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob), August 12-15, 2014, Sao Paulo, Brazil
PublisherInstitute of Electrical and Electronics Engineers
ISBN (Print)978-1-4799-3128-6
Publication statusPublished - 2014
Eventconference; IEEE BioRob 2014; 2001-08-12; 2014-08-15 -
Duration: 12 Aug 200115 Aug 2014


Conferenceconference; IEEE BioRob 2014; 2001-08-12; 2014-08-15
OtherIEEE BioRob 2014


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