Development master arm of 2-DOF planar parallel manipulator for In-Vitro Fertilization
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Author list: Thamrongaphichartkul K., Vongbunyong S., Nuntakarn L.
Publisher: IOP Publishing
Publication year: 2018
Volume number: 297
Issue number: 1
ISSN: 1757-8981
eISSN: 1757-899X
Languages: English-Great Britain (EN-GB)
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Abstract
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. ฉ Published under licence by IOP Publishing Ltd.
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