G - Physics – 05 – D
Patent
G - Physics
05
D
341/105, 88/0.16
G05D 3/12 (2006.01)
Patent
CA 2010282
"Tele-Micro-Robot System" Abstract of the Disclosure A micro-robot has two high-performance oppositely disposed parallel drive limbs for manipulation, surgery, and dynamic mechanical testing of very small objects such as single living cells. The end-points of each limb move in overlapping spherical workspaces of 6 mm diameter with minimum open- and closed-loop movements of 1 nm and 10 nm respectively. The displacement bandwidth of all six micro-robot axes exceeds 1 kHz for small displacements. A three-dimensional laser vision or imaging system with a resolution of 50 to 100 nm provides the micro-robot with volume images containing magnitude, phase, polarization, and spectral information concerning an object being manipulated by the micro-robot. A control computer system provides requisite real-time matrix transformations of control commands into actuation commands in micro-robot global and local coordinate systems. A macro version of the micro-robot enables force-reflecting tele-operation for operator control of the micro-robot, thereby permitting both microscopic objects and continuum models to be "felt" by an operator,
Finlayson & Singlehurst
Hunter Ian W.
LandOfFree
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