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Needs which have arisen in ophthalmic research have motivated the development of a six-degree-of-freedom parallel micromanipulator. The first application of the tool will be in the treatment of retinal venous occlusion, for which micron-scale spherical movement of a glass micropipette tip inside the eye is required. The initial operation mode will be open loop, while future operation will be in a force-reflecting bilateral (macro-master/micro-slave) arrangement. Presented here are some of the design criteria, the mathematical tools used in evaluating various parallel manipulator designs, and the final kinematic configuration.>
Grace et al. (Tue,) studied this question.
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