Two-photon polymerization (TPP) is a powerful and potential technology to fabricate true three-dimensional (3D) micro/nanostructures of various materials with subdiffraction-limit resolution. And it has been applied to microoptics, electronics, communications, biomedicine, microfluidic devices, MEMS and metamaterials. These applications, such as microoptics and photon crystals, put forward rigorous requirements on the processing accuracy of TPP, including the dimensional accuracy, shape accuracy and surface roughness and the processing accuracy influences their performance, even invalidate them. In order to fabricate precise 3D micro/nanostructures, the factors influencing the processing accuracy need to be considered comprehensively and systematically. In this paper, we review the basis of TPP micro/nanofabrication, including mechanism of TPP, experimental set-up for TPP and scaling laws of resolution of TPP. Then, we discuss the factors influencing the processing accuracy. Finally, we summarize the methods reported lately to improve the processing accuracy from improving the resolution and changing spatial arrangement of voxels.
BackgroundRobot-assisted minimally invasive surgery (RMIS) is promising for improving surgical accuracy and dexterity. As the end effector of the robotic arm, the remote centre of motion mechanism is one of the requisite terms for guaranteeing patient safety. The existing remote centre of motion mechanisms are complex and large in volume, as well as high assembly requirement and unsatisfactory precise. This paper aimed to present a new remote centre of motion mechanism for solving these problems.MethodsA new mechanism based on the RMIS requirements is proposed for holding the laparoscope and generating a remote centre of motion for the laparoscope. The mechanism kinematics is then analysed from the perspective of the structural function, and its inverse kinematics is determined with a small number of calculations. Finally, the position deviation of the laparoscope rotational point is chosen as the index to evaluate the mechanism performance. The experiments are performed to test the deviation.ResultsThe position deviations of the laparoscope rotational point do not exceed 2 mm, which is lower than that of the existing remote centre of motion mechanism. The 2 mm positioning error of the laparoscope won’t affect surgeon observation of the surgical field, and the pressure caused by the positioning error was acceptable for the skin elasticity. The proposed mechanism meets the RMIS requirement.ConclusionsThe proposed mechanism can achieve the remote centre of motion for the laparoscope. Its simple and compact structure is beneficial to avoid the collision of robotic arms, and it can be applied on other robots for providing the instrument necessary motion in minimally invasive surgery.
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