Motion-compensated micro-forceps system and method

A motion-compensated micro-forceps system, comprising:

• 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 assembly,
• wherein the optical detection system is configured to output a signal for the determination of a distance of the plurality of moveable grasping elements of the micro-forceps assembly to a target during operation, and
• wherein the motor controller is configured to provide feedback control signals to the motor assembly for motion compensation for both hand tremor and for a micro-forceps motion during grasping motions of the micro-forceps assembly, the grasping motions of the micro-forceps assembly being distinct from the hand tremor.