The development of robotic microsurgery devices will have major implications on delicate eye and brain surgical procedures. The microsurgery devices employ feedback control to reduce the effects of the surgeon's muscle tremors. Precision movements by an articulated robotic arm can greatly help a surgeon by providing a carefully controlled hand. One such device is shown in Figure AP1.1. The microsurgical devices have been evaluated in clinical procedures and are now being commercialized. Sketch a block diagram of the surgical process with a microsurgical device in the loop being operated by a surgeon. Assume that the position of the end-effector on the microsurgical device can be measured and is available for feedback.

FIGURE AP1.1 Mcrosurgery robotic manipulator. (Photo courtesy of NASA)