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�������պ����ѧѧ�� 2005, Vol. 31 Issue (07) :794-798    DOI:
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��һ��1, ���կ1, ����1, �����2*
1. �������պ����ѧ ��е���̼��Զ���ѧԺ, ���� 100083;
2. �������ۿ��о���, ���� 100730
Integration of microsensor for microsurgery robot's end-effector
Hu Yida1, Li Dazhai1, Yang Yang1, Sun Xuguang2*
1. School of Mechanical Engineering and Automation, Beijing University of Aeronautics and Astronautics, Beijing 100083, China;
2. Beijing Ophthalmology Research Institute, Beijing 100730, China

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Abstract�� In order to enhance the effect of robotic microsurgery, the microsensors were integrated on the robot’s end-effector. On the basis of requirements presented for the integration design, measuring mechanism for the robotic end trephine’s force and cutting depth was studied. Force microsensor and position microsensor were made use of to measure the surgical information of force and depth. The measuring mechanism was practised by means of linear sliding bearing and differential measuring structure. The sensor data board was developed. With the power spectral estimation of sensor data, the two digital filtering methods were proposed to eliminate the interference to the original microsensor signal. They are a filtering method of lowpass-bandstop serial structure suitable for the PC and a shift average filtering arithmetic suitable for the sensor data board. The experimental results show the integration of microsensors for microsurgery robot’s end-effector is qualified for the design requirements, and the robotic end trephine can fulfill the surgical task of corneal cutting accurately.
Keywords�� robots   sensors   integration   microsurgery     
Received 2004-10-30;
Fund:

����863�߼����о���չ�ƻ�������Ŀ(2002AA420110-4)

About author: ��һ��(1978-),��,����������,��ʿ��, huyida@me.buaa.edu.cn.
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��һ��, ���կ, ����, �����.��΢����������ĩ��΢С�ʹ����������о�[J]  �������պ����ѧѧ��, 2005,V31(07): 794-798
Hu Yida, Li Dazhai, Yang Yang, Sun Xuguang.Integration of microsensor for microsurgery robot's end-effector[J]  JOURNAL OF BEIJING UNIVERSITY OF AERONAUTICS AND A, 2005,V31(07): 794-798
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