Design and Characteristics of Motion Scaling Manipulator for Enhanced Microsurgical Applications

This paper presents the design, fabrication, and validation of a mechanical motion-scaling manipulator tailored for microsurgical applications. Utilizing a compound linkage architecture, comprising a 2.6:1 connecting-rod-based translational downscaling mechanism and dual parallelogram linkages for 1:1 pitch-yaw angular fidelity, the system enables precise manual control without the need for electronic components. Fabricated via high-resolution 3D printing, the manipulator ofers low-cost, modular operation compatible with sub-millimeter surgical tasks such as single-cell micromanipulation. Experimental validation confirms consistent kinematic behavior, with displacement deviations within 10% and angular alignment errors below 2 ◦ , despite compliance-related variability. These results demonstrate the feasibility of passive, electronics-free motion scaling tools in surgical contexts and highlight future opportunities for performance improvement through material upgrades, measurement refinement, and modular end-effector integration.