MOTION-COMPENSATED MICRO-FORCEPS SYSTEM AND METHOD

摘要

A motion-compensated micro-forceps system, including a manually-operable micro-forceps assembly having a plurality of moveable grasping elements; a motor assembly operatively connected to the plurality of moveable grasping elements; an optical detection system having an optical fiber attached to the manually-operable micro-forceps assembly at a fixed axial distance relative to a distal-most end of the plurality of moveable grasping elements; and a motor controller configured to communicate with the optical detection system and the motor assembly to provide motion compensation of the plurality of moveable grasping elements of the manually-operable micro-forceps, wherein the optical detection system is configured to output a signal for the determination of a distance of the plurality of moveable grasping elements of the micro-forceps to a target during operation, and wherein the motor controller is configured to provide feedback control signals to the motor assembly for motion compensation for both hand tremor and for hand-action-induced motions.