Hexapod Robots in Laser Microsurgery Research

Back to PI Website, www.pi-usa.usLaser micro-surgery can benefit from tracking and image-based methods that improve precision and safety. Advanced software together with stereo camera feedback allow for motion estimation reduce tracking errors.  A highly precise parallel kinematics motion system (Model H-824 from Physik Instrumente) with 6 degrees of freedom was used to evaluate the performance. More information is available in this paper Stereo Vision-Based Tracking of Soft Tissue Motion with Application to Online Ablation Control in Laser Microsurgery by Institute of Mechatronic Systems at the University of Hannover, Germany.

H-824 compact 6-axis positioner (left). Hexapods can also be used as surgery robots. (Image: PI/Fraunhofer IPA)
H-824 compact 6-axis positioner (left). Hexapods can also be used as surgery robots. (Image: PI/Fraunhofer IPA)

 

The interferometer test shows the high resolution, accuracy and repeatability of the entire travel range. Top: Train of 500 nanometer steps. Bottom: Bidirectional repeatability, in this case the deviation from the ideal position is only ±0.046μm.
The interferometer test shows the high resolution, accuracy and repeatability of the entire travel range.
Top: Train of 500 nanometer steps.

Bottom: Bidirectional repeatability, in this case the deviation from the ideal position is only ±0.046μm.

 

Hexapod in experimental setup to test tracking accuracy. From “Stereo Vision-Based Tracking of Soft Tissue Motion with Application to Online Ablation Control in Laser Microsurgery” A Schoob et Al, Leibniz Universität Hannover, Institute of Mechatronic Systems, Hanover Germany. Source>
Hexapod in experimental setup to test tracking accuracy. From “Stereo Vision-Based Tracking of Soft Tissue Motion with Application to Online Ablation Control in Laser Microsurgery” A Schoob et Al, Leibniz Universität Hannover, Institute of Mechatronic Systems, Hanover Germany. Source>

 

Hexapod 6-axis parallel kinematics positioners are more compact and flexible compared to traditional stacks of single axis stages.  Their ability to change the pivot point with a single software command is critical to applications from aligning optics or rotating a scalpel around a certain center of rotation.

 

More Reading:

Learn more about PI Precision Motion Systems, Stages, Components: www.pi-usa.us/products/index.php

 

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About PI

PI (Physik Instrumente) is a leading manufacturer of precision motion control equipment, piezo motors, air bearing stages and hexapod parallel-kinematics for semiconductor applications, photonics, bio-nano-technology and medical engineering. PI has been developing and manufacturing standard & custom precision products with piezoceramic and electromagnetic drives for 4 decades. The company has been ISO 9001 certified since 1994 and provides innovative, high-quality solutions for OEM and research. PI is present worldwide with fifteen subsidiaries, R&D / engineering on 3 continents and total staff of more than 1,000.

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