Master Device Research Articles

Clinical usability and efficacy of a robotic bone fracture reduction system: A pilot animal study

Challenges in minimally invasive surgeries, such as intramedullary nailing for long bone fractures, include radiation overexposure for patients and surgeons, potential malreduction, and physical burden on surgeons in maintaining the reduction status. A robotic bone fracture reduction system was developed in this study to address these problems. The system consists of a hexapod with six degrees of freedom, with a fracture reduction device and a master device. This study aimed to evaluate the novel system in a preclinical setting. The length of the six axes in the system can be adjusted to precisely control the length, angle, and rotation so that no additional traction is required. Fluoroscopic images can be remotely examined to reduce the risk of radiation exposure for surgeons. In this study, alignment accuracy and radiation exposure were measured using 32 bovine bone fracture models, and these surgical outcomes were compared to those of conventional manual surgery to verify the clinical usability and effectiveness of the system. The alignment accuracy was assessed by analyzing length, angulation, and rotation. The four surgeons participating in this study were divided into two groups (expert and novice) according to their clinical experience. All parameters in robotic surgery significantly decreased by approximately 4 mm and 8° on average (p≤0.05) compared to conventional surgery. The mean radiation exposure in robot-assisted surgery was 0.11 mSv, showing a significant decrease compared to conventional surgery (p<0.05). Reduction accuracy was higher in robotic surgery performed by the novice group than in conventional surgery performed by the expert group; however, standard deviation values were inversed. In conclusion, the bone fracture reduction robot system increased the alignment accuracy through precise control while reducing radiation exposure in surgeons, as the surgery was performed remotely. The use of this system is predicted to improve the accuracy and reproducibility of the surgery and the safety of medical staff.11Abbreviations: CT, computed tomography; FRD, fracture reduction device; FRMD, fracture reduction master device; SD, standard deviation

Kinematic analysis, workspace definition, and self-collision avoidance of a quasi-spherical parallel manipulator

Abstract Bilateral teleoperation has witnessed significant development since the mid-20th century, addressing challenges related to human presence in environments with constraints or a lack of skilled professionals. This article presents the kinematic and self-collision analyses of the quasi-spherical parallel manipulator, a three-legged parallel robot used as a haptic master device. The device is designed for remote center of motion-constrained operation in the telesurgical field. Inverse and forward kinematics are thoroughly analyzed to study working modes, singular configurations, and implement a haptic control architecture. The research explores the operative and reachable workspaces of the possible working modes, comparing them to find the most suitable one. Results highlight how the addition of the self-collision phenomenon impacts the working mode choice, drastically reducing most of the modes’ operative workspaces. An anti-collision control algorithm is finally introduced to maintain the architecture within its reachable workspace.

Comparative Analysis of Refractive Outcomes Following Cataract Surgery Using IOL Master 500 and IOL Master 700 Biometry Devices: A Retrospective Analysis.

Background: This study aims to compare the refractive outcomes of cataract surgery using two different biometry devices, the IOL Master 500 and IOL Master 700, and to investigate the influence of patient-related factors on these outcomes. Methods: In this retrospective study, we analyzed data from 2994 eyes that underwent cataract surgery. Multiple linear regression analyses were performed to examine the impact of the biometry device (IOL Master 500 or IOL Master 700), patient age, time elapsed between biometry and surgery, gender, and insurance status, as well as biometric parameters (anterior chamber depth, axial length, and corneal curvature), on postoperative refractive outcomes, specifically the deviation from target refraction. Results: The choice of the IOL Master device did not result in a statistically significant difference between the two devices (p = 0.205). Age (p = 0.006) and gender (p = 0.001) were identified as significant predictors of refractive outcomes, with older patients and males experiencing slightly more hyperopic outcomes compared to younger patients and females, respectively. The time elapsed between biometry and surgery and insurance status did not significantly influence the refractive outcomes. Conclusions: Our study, supported by a large cohort and a diverse group of patients representing typical anatomical variants seen in cataract surgery, supports the thesis that the IOL Master 500 and IOL Master 700 can be regarded as equivalent and effective for biometry in cataract surgery. The differences between the devices were negligible. Therefore, switching between the devices is safe for bilateral patients.

Design, Construction, and Validation of an Experimental Electric Vehicle with Trajectory Tracking.

This research presents an experimental electric vehicle developed at the Tecnológico Nacional de México Celaya campus. It was decided to use a golf cart-type gasoline vehicle as a starting point. Initially, the body was removed, and the vehicle was electrified, meaning its engine was replaced with an electric one. Subsequently, sensors used to measure the vehicle states were placed, calibrated, and instrumented. Additionally, a mathematical model was developed along with a strategy for the parametric identification of this model. A communication scheme was implemented consisting of four slave devices responsible for controlling the accelerator, brake, steering wheel, and measuring the sensors related to odometry. The master device is responsible for communicating with the slaves, displaying information on a screen, creating a log, and implementing trajectory tracking techniques based on classical, geometric, and predictive control. Finally, the performance of the control algorithms implemented on the experimental prototype was compared in terms of tracking error and control input across three different types of trajectories: lane change, right-angle curve, and U-turn.

The Repeatability and Agreement of Ocular Parameters Measured with the MYAH and Myopia Master Devices between Expert and Non-Expert Practitioners.

In myopia control, it is essential to measure the axial length (AL) and corneal parameters, and to monitor whether changes in these parameters have occurred over time. The aim of this study was to analyse the repeatability and agreement between expert and non-expert practitioners in ocular parameters measured by the MYAH and Myopia Master. Three repeated measurements (n = 42) were recorded with the MYAH and Myopia Master by two (an expert and a non-expert) observers in a randomized order. The AL, K1, K2, and white-to-white (WTW) distance were collected. The intraobserver repeatability was excellent in all parameters measured with both devices in both observers. The AL outcome presented the best repeatability with the MYAH and Myopia Master (intraclass correlation coefficient, ICC = 1.0; coefficient of variation, CV ≤ 0.06% for both observers), while the WTW presented poorer results (ICC ≤ 0.991; CV ≤ 0.52%). The Myopia Master provides a significantly (p ≤ 0.01) flatter K1 and K2 as well as a lower WTW (p ≤ 0.01) than the MYAH. No statistically significant difference in AL measurements was found with either device (p ≥ 0.10; ICC = 1.0). None of the parameters showed differences (p ≥ 0.12) between the expert and non-expert observer. The MYAH and Myopia Master provide consistent measurements in a healthy adult population regardless of the previous clinical experience of the observer. AL measurements should be used interchangeably but K1, K2, and WTW should be used interchangeably with caution.

Experimental Use Validation of the Master Hybrid Haptic Device Dedicated to Remote Center-of-Motion Tasks

The main objective of this paper is to discuss the experimental validation of a tele-operation system for remote center-of-motion tasks, such as laparoscopic surgery. This validation is based on the use of an extra sensor placed on the master manipulator. The tele-operation system is composed of a new hybrid haptic device (nHH) intended to be used as a master manipulator controlling a collaborative robot, used as a slave surgical robot. The resolution of the forward kinematic model (FKM) of the master device is performed experimentally thanks to the use of an extra sensor. The IMU, as the extra sensor, is installed on the serial part of the nHH device to measure the orientation and is enabled to solve the FKM of the parallel part of the nHH device. The use of an extra sensor reduces the calculation time, improves the accuracy of the KFM, and makes it suitable for real-time applications. The preliminary validation of the force feedback in the nHH workspace is validated. Experiments were conducted on the master–slave platform to validate the proposed approach. The results are promising, which proves that the nHH device presents a suitable performance for the desired task.

FPGA Implementation of SPI Protocol

Field Programmable Gate Array (FPGA) are versatile devices that can be programmed to implement various digital circuits, including communication protocols like Serial Peripheral Interface (SPI). The Serial peripheral interface protocol is a synchronous serial communication interface that allows for full duplex communication between a master device and a multiple slave MOSI, MISO, SCLK, and SS. MOSI and MISO are data lines, while SCLK is the clock signal generated by the master to synchronize transfers. SS is used by the master to select individual slave devices. By implementing the SPI protocol in FPGA, to gain flexibility and customization, as FPGAs can be reprogrammed for different applications without the need for dedicated hardware changes. The FPGA implementation of the Serial Peripheral Interface (SPI) protocol involves a structured methodology. With the help of pipeline buffer and DAM technique power dissipation is performed effectively. Finally, integrate the FPGA SPI module into the larger system, ensuring seamless communication with other components or microcontrollers. This systematic approach ensures a reliable and tailored FPGA based SPI implementation.

SPI Master Slave Communication

The serial-peripheral interface (SPI) protocol also called asynchronous serial interface specification is used for communication between single master and single/multiple slaves. With the increase in number of slaves causing high complexity of circuit creates a demand in self-test ability feature for SPI module in order to test for fault free circuits. Built-In-Self-Test (BIST) in the answer for self-test in circuits as well as it helps in reduction of maintenance and testing cost. Design of BIST embedded SPI module with single master and single slave configuration has been introduced in these paper, Here 8-bit is transferred across the module, Where the Circuit under Test (CUT) is being Self-Tested with BIST feature for its correctness. This SPI module is designed using Verilog hardware description language(HDL) using EDA playground platform for application like applications specific integrated circuit (ASIC) or system on chip (SOC). SPI stands for the Serial Peripheral Interface. It is a serial communication protocol that is used to connect low-speed devices. It was developed by Motorola in the mid-1980 for inter-chip communication. It is commonly used for communication with flash memory, sensors, real-time clock (RTC), analog-to-digital converters, and more. It is a full-duplex synchronous serial communication, which means that data can be simultaneously transmitted from both directions. The main advantage of the SPI is to transfer the data without any interruption. Many bits can be sent or received at a time in this protocol. In this protocol, devices are communicated in the master-slave relationship. The master device controls the slave device, and the slave device takes the instruction from the master device. The simplest configuration of the Serial Peripheral Interface (SPI) is a combination of a single slave and a single master. But, one master device can control multiple slave devices

Bilateral Teleoperation with a Shared Design of Master and Slave Devices for Robotic Excavators in Agricultural Applications

The main objective of this study is to develop a shared design of master and slave devices for bilateral teleoperation mechanisms used for robotic excavators in agricultural applications. In robot teleoperation research, many potential applications within controlled and hazardous environments come to light. Robots, with their capacity for remote control by human operators through master devices, often employ the master-slave teleoperation approach. This strategy finds frequent use across manufacturing, construction, and agriculture industries. The master-slave system necessitates two interdependent components that collaboratively steer the robot in real time. However, challenges arise when manipulating the robot arm proves challenging due to structural differences between the master device (such as a joystick) and the slave device (the robot arm). A stable operational framework must be established for the robot to function optimally. This teleoperation system employs a master device to govern the actions of the slave device, a dynamic that heavily influences the operational complexity. Hence, the focal point of this study is to enhance the master-slave algorithm for teleoperation applications that rely on controlling robot arm movements. Despite the differing dimensions of the master and slave devices, they both share a common structure. The kinematic model bridging these components must be intelligible to ensure user-friendliness, facilitating effortless robot control. Calculating the robot arm's end effector movement and positioning involves employing the forward kinematics of the arm, determined through Denavit-Hartenberg parameters and transformation matrices. By mitigating communication delays between the master and slave devices using a technique centered around the robot arm's end effector position, the effectiveness of teleoperation can be significantly improved. Our designed robot arm attains 80% to 100% precision across joints. In summary, streamlining the robot arm's structure and minimizing delays offers a route to bolstering both stability and efficiency in robotic movement.

Robotic system for nasopharyngeal swab sampling based on remote center of motion mechanism.

In this study, a robotic system is proposed for nasopharyngeal (NP) swab sampling with high safety and efficiency. Most existing swab-sampling robots have more than six degrees of freedom (DOFs). However, not all six DOFs are necessarily required for NP swab sampling. A high number of DOFs can cause safety problems, such as collisions between the robot and patient. We developed a new type of robot with four DOFs for NP swab sampling that consists of a two DOFs remote center of motion (RCM) mechanism, a two DOFs insertion mechanism, and a nostril support unit. With the nostril support unit, the robot no longer needs to adjust the insertion position of the swab. The proposed robot enables the insertion orientation and depth to be adjusted according to different postures or facial shapes of the subject. For intuitive and precise remote control of the robot, a dedicated master device for the RCM and a visual feedback system were developed. The effectiveness of the robotic system was demonstrated by repeatability, RCM accuracy, tracking accuracy, and in vitro phantom experiments. The average tracking error between the master device and the robot was less than 2mm. The contact force exerted on the swab prior to reaching the nasopharynx was less than 0.04 N, irrespective of the phantom's pose. This study confirmed that the RCM-based robotic system is effective and safe for NP swab sampling while using minimal DOFs.

Remote Control Device to Drive the Arm Gestures of an Assistant Humanoid Robot

This work presents a remote control device designed to drive the arm gestures of an assistant humanoid mobile robot. The remote control is a master device with two passive arms configured to replicate the four degrees of freedom of each arm of the original assistant humanoid robot and send this information to the robot. This configuration allows the mobile robot to directly replicate the position of the arms on the remote controller. The objective of this proposal is to provide the robot with enhanced non-verbal and pointing communication capabilities during human interaction or assistance. The master device registers the angular position of each joint of its passive arms and transmits this information to the mobile robot, which replicates it. The experimental evaluation of the system has shown that the humanoid robot is able to successfully replicate any gesture on the remote controller. The positions of the arms have been sampled at a frame rate of 20 ms, and the average telecontrol delay obtained in the gesture experiments has been 549 ms, without appreciable jumps or irregularities in the gestures. The conclusion is that the direct manipulation of the passive arms of the remote control device provides the APR-02 humanoid robot with enhanced non-verbal and pointing communication capabilities during human interaction or assistance.

Design of Adaptive Sensor Coupling-Based Upper Limb 7-DOF Exoskeleton for Smooth Human Motion Tracking: ASC-EXO

The conventional sensor coupling of the sensor in an exoskeleton robot suffers from inaccurate human motion tracking due to irregular inertial loading on the sensor axis. It may cause sensor axis misalignment, performance degradation and damage the sensor permanently, especially in the multiple degrees of freedom (DOF) exoskeleton robot. In this paper, we proposed a novel design of an adaptive sensor coupling-based 7-DOF exoskeleton (ASC-EXO) for motion tracking and tele-manipulation. The adaptive sensor coupling mechanism has been designed based on the flexure structure cantilever with a slew ring, which suppresses irregular inertial loading on the sensor and is stiff enough along the sensor rotation in the z-axis and compliant on the other axes. The slew ring allows smooth joint rotation. Further, the sensor values are improved by a Butterworth filter. As a result, the adaptive sensor coupling suppressed the sensor noise 20 times more than the conventionally coupled sensor with the robot joint. Finally, we developed a prototype of the 7-DOF exoskeleton (ASC-EXO) using adaptive sensor coupling for smooth human motion tracking. The performance evaluation of adaptive sensor coupling and human motion tracking is presented. In addition, we demonstrated smooth control of the slave robot (KUKA) using the exoskeleton (ASC-EXO) as a master device.

Energy-Efficient IoT-Based Light Control System in Smart Indoor Agriculture.

Indoor agriculture is emerging as a promising approach for increasing the efficiency and sustainability of agri-food production processes. It is currently evolving from a small-scale horticultural practice to a large-scale industry as a response to the increasing demand. This led to the appearance of plant factories where agri-food production is automated and continuous and the plant environment is fully controlled. While plant factories improve the productivity and sustainability of the process, they suffer from high energy consumption and the difficulty of providing the ideal environment for plants. As a small step to address these limitations, in this article we propose to use internet of things (IoT) technologies and automatic control algorithms to construct an energy-efficient remote control architecture for grow lights monitoring in indoor farming. The proposed architecture consists of using a master-slave device configuration in which the slave devices are used to control the local light conditions in growth chambers while the master device is used to monitor the plant factory through wireless communication with the slave devices. The devices all together make a 6LoWPAN network in which the RPL protocol is used to manage data transfer. This allows for the precise and centralized control of the growth conditions and the real-time monitoring of plants. The proposed control architecture can be associated with a decision support system to improve yields and quality at low costs. The developed method is evaluated in emulation software (Contiki-NG v4.7),its scalability to the case of large-scale production facilities is tested, and the obtained results are presented and discussed. The proposed approach is promising in dealing with control, cost, and scalability issues and can contribute to making smart indoor agriculture more effective and sustainable.

Design and Implementation of Advanced Extensible Interface using Verilog

Abstract: Advanced eXtensible Interface, is an interface protocol defined by ARM as part of the AMBA standard. They comprise of AXI4, AXI4 Lite, AXI4 Stream. The AXI specification describes a point-to-point protocol between two interfaces, a master and a slave. The AXI protocol uses 5 channels, 2 for read transactions and 3 for write transactions. One of the key features of AXI4 is its support for burst transactions, which allows for efficient transfer of multiple data items in a single transaction, enhancing data throughput. AXI4-Lite is designed to provide a lightweight and efficient interface for communication between a master device and simpler peripheral devices or memory-mapped registers in a digital system. AXI4-Stream is developed for highthroughput, unidirectional data transfer between different components in a digital system. The design is done in Verilog.

Accuracy of on-site teleoperated milling with haptic assistance

PurposeIn bone surgery specialties, like orthopedics, neurosurgery, and oral and maxillofacial surgery patient safety and treatment success depends on the accurate implementation of computer-based surgical plans. Unintentional plan deviations can result in long-term functional damage to the patient. With on-site teleoperation, the surgeon operates a slave robot with a physically-decoupled master device, while being directly present at the operation site. This allows the surgeon to perform surgical tasks with robotic accuracy, while always remaining in the control loop.MethodsIn this study the master- and slave-side accuracy of an on-site teleoperated miniature cooperative robot (minaroHD) is evaluated. Master-side accuracy is investigated in a user study regarding scale factor, target feed rate, movement direction and haptic guidance stiffness. Scale factors are chosen to correspond to primarily finger, hand, and arm movements. Slave-side accuracy is investigated in autonomous milling trials regarding stepover, feed rate, movement direction, and material density.ResultsMaster-side user input errors increase with increasing target feed rate and scale factor, and decrease with increasing haptic guidance stiffness. Resulting slave-side errors decrease with increasing scale factor and are < 0.07 mm for optimal guidance parameters. Slave-side robot position errors correlate with the feed rate but show little correlation with stepover distance. For optimal milling parameters, the 95th percentile of tracked slave-side position error is 0.086 mm with a maximal error of 0.16 mm.ConclusionFor optimal guidance and milling parameters, the combined error of 0.23 mm is in the range of the dura mater thickness (< 0.27 mm) or mandibular canal wall (~ 0.85 mm). This corresponds to safety margins in high-demand surgical procedures like craniotomies, laminectomies, or decortication of the jaw. However, for further clinical translation, the performance and usability of on-site teleoperated milling must be further evaluated for real-life clinical application examples with consideration of all error sources in a computer-assisted surgery workflow.

Design and Synthesis of AMBA APB Protocol for SoC

The AMBA (Advanced Microcontroller Bus Architecture) and APB (Advanced Peripheral Bus) protocol is a widely used bus protocol designed by ARM for integrating peripheral devices into a system-on- chip (SoC) design. It provides a low-power, low-complexity interface that allows efficient communication between the master and slave devices within the SoC. The APB protocol offers a straightforward and flexible architecture, making it suitable for a wide range of SoC applications. It supports a single-master, multiple-slave bus structure, where an APB master can communicate with multiple APB slave devices. This architecture enables seamless integration of various peripheral devices, such as timers, UARTs, I/O controllers, and more, into the SoC. One of the key advantages of the APB protocol is its power efficiency. It achieves this by utilizing a simplified set of signals and reduced complexity compared to other bus protocols. The APB bus operates based on a common clock signal, ensuring proper timing and synchronization of data transfers while minimizing power consumption.

A New Device for Two-Way Time-Frequency Real-Time Synchronization

&lt;p&gt;The netted wireless sensor nodes or coherent accumulation processing in multistatic radar imaging requires high accuracy time synchronization. Although GNSS timing can also be used as a time synchronization method to serve the applications above, its timing accuracy will be limited. In this context, we present the hardware implementation for Two-Way Time-Frequency Real-Time Synchronization (TWTFRTS) with an automatic adaptive jitter elimination algorithm based on Kalman and PID, which is implemented in a real-time, low-cost, portable Xilinx ZYNQ device. A short (2 km) baseline TWTFRTS experiment was done with a pair of devices composed of a master device and a slave device. The result shows a high precision of time synchronization performance with the standard deviation (1 &amp;sigma;) better than 1 ns.&lt;/p&gt; &lt;p&gt;&amp;nbsp;&lt;/p&gt;

Verilog-Based Design of AMBA-APB Protocol and Their Verification

The Advanced Peripheral Bus (APB) is a crucial component of the Advanced Microcontroller Bus Architecture (AMBA), a widely-used standard for designing complex microcontrollers with multiple peripherals. The APB's non-pipelined architecture allows it to connect low-transmission capacity peripherals to the SoC, while minimizing power utilization and interface complexity. The APB is designed to facilitate communication between master and slave devices, supporting multiple slaves in a system. The APB supports three types of transfers: Write, Read, and Idle. The objective of this work is to enable data transfers for Write and Read operations with both No-Wait and Wait states. No-Wait transfers are those that do not require the master to wait for a response from the slave before continuing, while Wait transfers require the master to wait until the slave responds. This allows for efficient and reliable communication between the master and slave devices in the system. To implement this functionality, the Verilog hardware description language (HDL) has been used for design. Verilog offers reusability of Test bench components, allowing for efficient verification of numerous test cases and ensuring the robustness and accuracy of the proposed system. The proposed design and verification methodology with Verilog HDL and a Test bench can thoroughly validate the APB protocol's functionality and performance. This approach enables comprehensive testing of Write and Read operations with No-Wait and Wait states, ensuring that the data transfers occur accurately and efficiently. By utilizing proper simulation and verification using Verilog and a Test bench, the proposed system can be confidently implemented in real-world applications. It provides reliable communication between master and slave devices in a system while minimizing power utilization and interface complexity. The design's reusability enhances the flexibility and adaptability of the system, ensuring that it can be adapted to different applications and scenarios. Overall, the proposed system provides a robust and efficient solution for communication between master and slave devices in an AMBA-based device.

A Sensing-Based Visualization Method for Representing Pressure Distribution in a Multi-Zone Building by Floor.

Airflow in a multi-zone building can be a major cause of pollutant transfer, excessive energy consumption, and occupants discomfort. The key to monitoring airflows and mitigating related problems is to obtain a comprehensive understanding of pressure relationships within the buildings. This study proposes a visualization method for representing pressure distribution within a multi-zone building by using a novel pressure-sensing system. The system consists of a Master device and a couple of Slave devices that are connected with each other by a wireless sensor network. A 4-story office building and a 49-story residential building were installed with the system to detect pressure variations. The spatial and numerical mapping relationships of each zone were further determined through grid-forming and coordinate-establishing processes for the building floor plan. Lastly, 2D and 3D visualized pressure mappings of each floor were generated, illustrating the pressure difference and spatial relationship between adjacent zones. It is expected that the pressure mappings derived from this study will allow building operators to intuitively perceive the pressure variations and the spatial layouts of the zones. These mappings also make it possible for operators to diagnose the differences in pressure conditions between adjacent zones and plan a control scheme for the HVAC system more efficiently.

Design and Development of a Dexterous Bilateral Robotic Microinjection System Based on Haptic Feedback

In this paper, a dexterous bilateral robotic system with haptic feedback is designed and developed for microinjection of biological samples. For the first time, the robotic system has been developed for microinjection of both zebrafish larvae and embryos. The master device is constructed by a seven-degree-of-freedom (7-DOF) haptic interface. As the slave device, a 6-DOF microinjection robot is developed by integrating a 3-DOF micropositioning stage and a 3-DOF micromanipulator. One uniqueness of the proposed robotic system is that the injection targets can be placed directly in the Petri dish without prior pose adjustment. The master haptic device not only enables remote control of the microinjection robot by a human operator, but also provides an intuitive haptics feedback to the operator for executing the microinjection operation with a high success rate. The haptic interface is deployed as a viscous damping to enhance the smoothness and stability of its movement. Moreover, a hybrid bilateral control architecture is developed for the system to achieve ideal performance of position tracking and haptic telepresence. A prototype system is developed for performance test. The experimental results of individual and continuous microinjection of zebrafish larvae demonstrate fine position/force tracking capability and flexibility. Note to Practitioners—Microinjection is a universal operation in biological study for delivering foreign materials into biological samples. The existing manual and automated microinjections have limited flexibility. Meanwhile, the stand-alone visual information cannot provide enough telepresence to the operator, which results in low success rate and poor repeatability. This paper proposes a new haptics-based dexterous bilateral robotic system dedicated to microinjection task of both zebrafish larvae and embryos. Both the master haptic interface and slave microinjection robot exhibit multi-DOF motion, which enables a dexterous micromanipulation with high success rate for the human operator. The feasibility of the reported robotic system has been verified by performing microinjection operation of different targets.