Micro parallel robot MIPS for medical applications

摘要

MIPS is a micro robot with a parallel mechanical architecture having three degrees of freedom (one translation and two orientations) that allow fine positioning of a surgical tool. The purpose of MIPS is to act as an active wrist at the tip of an endoscope and to provide to the surgeon an accurate tool that may furthermore offer a partial force-feedback. The current prototype has a diameter of 7 mm for a length of 2.5 cm and includes all the necessary hardware. We will explain why a parallel architecture has be chosen, the method of optimal design that has been used for determining the dimensions of the robot and present the current prototype.