于永初, 毕树生, 李大寨, 宗光华. 角膜移植显微手术机器人末端执行器的设计[J]. 机器人, 2004, 26(3): 256-258,262..
YU Yong-chu, BI Shu-sheng, LI Da-zhai, ZONG Guang-hua. Design of an End Effector Used on Cornea Grafting Microsurgery Robot. ROBOT, 2004, 26(3): 256-258,262..
Abstract：An end effector used on cornea grafting microsurgery robot is designed. Micro-force sensor, displacement sensor, micro-DC motor and trephine is integrated. Small size and perfect performance is its key features. The effector is fixed on the end of robot operating on the cornea directly.
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