2A1-G05 Development of Flexible Rack driven Precise Needle Insertion Manipulator

Abstract

This paper shows the development of precise needle insertion manipulator driven by flexible rack. We aim at the precise positioning of manipulator with drive transmission using flexible rack. The mechanism to realize precise positioning using flexible rack dive is supposed. And, we develop the needle insertion manipulator using the supposed mechanism. The characteristics of flexible rack drive is measured and modeled to make controller. The controller of manipulator is made from simulation result using flexible rack drive model. The experiment to measure the precision of manipulator was carried out. The developed manipulator realizes precise positioning at 20μm.