Purpose Retinal microsurgery requires extremely delicate manipulation of retinal tissue where tool-to-tissue interaction forces are usually below the threshold of human perception. Creating a force-sensing surgical instrument that measures the forces directly at the tool tip poses great challenges due to the interactions between the tool shaft and the sclerotomy opening. Methods We present the design and analysis of a force measurement device that senses distal forces interior to the sclera using 1-cm long, 160 µm diameter Fiber Bragg Grating (FBG) strain sensors embedded in a 0.5 mm diameter tool shaft. Additionally, we provide an algorithm developed to cancel the influence of environmental temperature fluctuations. Results The force-sensing prototype measures forces with a resolution of 0.25 mN in 2 DOF while being insensitive to temperature. Conclusion Sub-millinewton resolution force sensors integrated into microsurgical instruments are feasible and

/pdf/a-sub-millimetric-0-25-mn-resolution-fully-integrated-fiber-34w8kk9p43.pdf

A sub-millimetric, 0.25 mN resolution fully integrated fiber-optic force-sensing tool for retinal microsurgery.

This paper presents a review of the major haptic feedback teleoperation systems for micromanipulation. During the last decade, the handling of micrometer-sized objects has become a critical issue. Fields of application from material science to electronics demonstrate an urgent need for intuitive and flexible manipulation systems able to deal with small-scale industrial projects and assembly tasks. Two main approaches have been considered: fully automated tasks and manual operation. The first one require fully pre determined tasks, while the later necessitates highly trained operators. To overcome these issues the use of haptic feedback teleoperation where the user manipulates the tool through a joystick whilst feeling a force feedback, appears to be a promising solution as it allows high intuitiveness and flexibility. Major advances have been achieved during this last decade, starting with systems that enable the operator to feel the substrate topology, to the current state-of-the-art where 3D haptic feedback is provided to aid manipulation tasks. This paper details the major achievements and the solutions that have been developed to propose 3D haptic feedback for tools that often lack 3D force measurements. The use of virtual reality to enhance the immersion is also addressed. The strategies developed provide haptic feedback teleoperation systems with a high degree of assistance and for a wide range of micromanipulation tools. Based on this expertise on haptic for micromanipulation and virtual reality assistance it is now possible to propose microassembly systems for objects as small as 1 to 10 micrometers. This is a mature field and will benefit small-scale industrial projects where precision and flexibility in microassembly are required.

/pdf/a-review-of-haptic-feedback-teleoperation-systems-for-1vv8kscfp2.pdf

A Review of Haptic Feedback Teleoperation Systems for Micromanipulation and Microassembly

Robotic micromanipulation is a relatively young field. However, after three decades of development and evolution, the fundamental physics; techniques for sensing, actuation, and control; tool sets ...

Robotic Micromanipulation: Fundamentals and Applications

This paper presents recent results on the development and control of a microgripper based on flexure joints, fabricated by LIGA and instrumented with semiconductor strain-gauge force sensors. The microgripper is the end-effector of a workstation developed to grasp and manipulate tiny objects such as the components of a typical biomedical microdevice. The development of the force control in the microgripper is of fundamental importance in order to achieve the dexterity and sensing capabilities required to perform assembly tasks for biomedical microdevices. As a step towards the definition of the force control strategy, system identification techniques have been used to model the microgripper. Results indicate that a proportional integral (PI) controller could be used to assure, at the same time, closed-loop stability of the system, and a bandwidth suitable for the intended applications. The force control is based on strain-gauge sensors which have been integrated in the microgripper and experimentally characterized. Sensor response in the idling condition and during grasp showed that they can provide useful information for force control of the microgripper.

Towards a force-controlled microgripper for assembling biomedical microdevices

Biomicroelectromechanical systems (bio-MEMS) are MEMS which are designed for medical or biological applications. As with other MEMS, bio-MEMS frequently, have to be packaged to provide an interface to the macroscale world of the user. Bio-MEMS can be roughly divided in two groups. Bio-MEMS can be pure technical systems applied in a biological environment or technical systems which integrate biological materials as one functional component of the system. In both cases, the materials which have intimate contact to biological matter have to be biocompatible to avoid unintentional effects on the biological substances, which in case of medical implants, could harm the patient. In the case of biosensors, the use of nonbiocompatible materials could interfere with the biological subcomponents which would affect the sensor's performance. Bio-MEMS containing biological subcomponents require the use of "biocompatible" technologies for assembly and packaging; e.g., high temperatures occurring, for instance, during thermosonic wire bonding and other thermobonding processes would denature the bioaffinity layers on biosensor chips. This means that the use of selected or alternative packaging and assembly methods, or new strategies, is necessary for a wide range of bio-MEMS applications. This paper provides an overview of some of the strategies, technologies, and applications in the field of bio-MEMS packaging. It includes the following: strategies for the partitioning of subsystems within integrated microsystems for (bio)chemical analysis/synthesis; methods for microassembly of bio-MEMS; technologies for bonding of polymer bio-MEMS components; packaging of miniature medical devices; packaging of biosensors for in vitro applications; packaging of micropumps as a bio-MEMS component. The applications discussed are derived from different fields to demonstrate the plethora of bio-MEMS considerations. In commercial production, packaging is possibly the major cost factor of bio-MEMS-based products, and its development requires special attention.

Packaging of bio-MEMS: strategies, technologies, and applications

We present experimental results that investigate the integration of two disparate sensing modalities, force and vision, for sensor-based microassembly. By integrating these sensing modes, we are able to provide feedback in a task-oriented frame of reference over a broad range of motion with an extremely high precision. An optical microscope is used to provide visual feedback down to micron resolutions. We have developed an optical beam deflection sensor to provide nanonewton level force feedback or nanometric level position feedback. The value of integrating these two disparate sensing modalities is demonstrated during controlled micropart impact experiments. Using force feedback alone to control micropart contact transitions, impact forces of over 140 nN were generated before the desired contact force of 2 nN was achieved. When visual servoing is integrated with the force control framework, micropart impact forces of only 9 nN and final contact forces of 2 nN were easily achieved.

Fusing force and vision feedback for micromanipulation

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Fusing force and vision feedback for micromanipulation