| 摘要 |
The present invention relates to devices and methods for controlled motion of a tool. In one embodiment, the device can support a tool needed to perform an activity requiring a highly-precise, stable motion, while also accommodating a person's hand for the purposes of moving the tool. In another embodiment, the device of the present invention allows for rotational motion of a tool independently of the directive motion of the tool. In yet another embodiment, the present invention relates to the design of a force transducer useful in a cooperative robot. The device and methods of the present invention are particularly useful for microsurgery or other tasks that are typically performed using cooperative robotics. |
| 主权项 |
1. A device for reducing tremor in a tool, comprising:
a grip suitable for engaging a tool, a sensor assembly connected to the grip, a micromanipulator associated with the grip, and at least one microprocessor operatively connected with the micromanipulator and the sensor assembly, wherein when a force is applied to the grip, the sensor assembly sends an input signal to the microprocessor indicative of the applied force, upon receiving the input signal, the microprocessor sends an output signal to the micromanipulator directing the micromanipulator to apply movement to the grip in the direction of the applied force. |
