Motion-compensated micro-forceps system and method

A method of performing motion compensation for a micromanipulation system, comprising:

• detecting a distance of a distal-most end of the micromanipulation system to an object of interest;
• detecting an axial velocity of the distal-most end of the micromanipulation system to the object of interest;
• setting a safety barrier distance for the distal-most end of the micromanipulation system to the object of interest;
• and
• modifying the axial velocity proportional to a distance offset between the safety barrier distance and the distal-most end of the plurality of moveable grasping elements using feedback control with a motor controller and a motor system,
• wherein the modifying the axial velocity is adapted to provide motion compensation for both hand tremor and for hand-action-induced motions.

The method of performing motion compensation for a micromanipulation system according to 11, wherein the hand-operable, motion-compensated micro-forceps system, comprises:

• a manually-operable micro-forceps assembly comprising a plurality of moveable grasping elements;
• a motor assembly operatively connected to the plurality of moveable grasping elements;
• an optical detection system comprising an optical fiber attached to the manually-operable micro-forceps assembly at a fixed axial distance relative to a distal-most end of the plurality of moveable grasping elements;
• and
• a motor controller configured to communicate with the optical detection system and the motor assembly to provide motion compensation of the plurality of moveable grasping elements of the manually-operable micro-forceps.