Abstract:
A high-frequency and micro-amplitude vibration based micro-operation manipulator prototype is developed,in which the 3-RUU pure translational parallel mechanism is adopted as the micro-motion mechanism,and a high-frequency and micro-amplitude vibration unit is fixed on its movable platform.the operational needle connected with the micro-vibration unit can moves with the movable platform in a larger spatial region,meanwhile the reciprocative piercing motion of needle is achieved by the actuation of micro-vibration unit.As a result,the integrative motion of operational needle for micro-dissection operation is generated.The micro-operation manipulator prototype is designed and fabricated,and a micro-operation experimental system is established where the micro-manipulator is used as a basic module.Performance of the experimental system is tested through initial operations of COW oocyte.The results shows that the developed experimental system can complete proleptic opertional tasks successfully,and both the elastic distortion and injure of COW oocyte are smaller.The presented experimental system can be adopted as the physical platforlm for microscopical operation study.