Development master arm of 2-DOF planar parallel manipulator for In-Vitro Fertilization

8th TSME-International Conference on Mechanical Engineering

Thamrongaphichartkul, Kitti^1 ; Vongbunyong, Supachai^1 ; Nuntakarn, Lalana^2

Innovation and Advanced Manufacturing Research Group, Institute of Field Robotics, King Mongkut's University of Technology Thonburi, 126 Pracha Uthit Rd., Bang Mod, Thung Khru, Bangkok

10140, Thailand^1

Ramathibodi Hospital, Deparment of Obstetrics and Gynecology, Reproductive Endocrinology and Infertility Unit, Mahidol University, 272 Rama VI Rd., Thung Phaya Thai, Ratchathewi, Bangkok

10140, Thailand^2

关键词: Haptic devices;    In-vitro;    Limited workspaces;    Master-slave systems;    Mechanical device;    Microneedles;    Planar parallel manipulators;    Tactile perception;   

Others  :  https://iopscience.iop.org/article/10.1088/1757-899X/297/1/012049/pdf
DOI  :  10.1088/1757-899X/297/1/012049

来源: IOP

【 摘 要 】

Micromanipulator is a mechanical device used for manipulating miniature objects in the order of micron. It is widely used in In-Vitro Fertilization (IVF) in which sperms will be held in a micro-needle and penetrate to an oocyte for fertilization. IVF needs to be performed by high skill embryologists to control the movement of the needle accurately due to the lack of tactile perception of the user. Haptic device is a device that can transmit and simulate position, velocity and force in order to enhance interaction between the user and system. However, commercially available haptic devices have unnecessary degrees of freedom and limited workspace which are inappropriate for IVF process. This paper focuses on development of a haptic device for using in IVF process. It will be used as a master arm for the master-slave system for IVF process in order to enhance the ability of users to control the micromanipulator. As a result, the embryologist is able to carry out the IVF process more effectively with having tactile perception.