Control of multi-dof ultrasonic actuator for dexterous surgical instrument
- Authors
- Takemura, Kenjiro; Park, Shinsuk; Maeno, Takashi
- Issue Date
- 8-4월-2008
- Publisher
- ACADEMIC PRESS LTD- ELSEVIER SCIENCE LTD
- Citation
- JOURNAL OF SOUND AND VIBRATION, v.311, no.3-5, pp.652 - 666
- Indexed
- SCIE
SCOPUS
- Journal Title
- JOURNAL OF SOUND AND VIBRATION
- Volume
- 311
- Number
- 3-5
- Start Page
- 652
- End Page
- 666
- URI
- https://scholar.korea.ac.kr/handle/2021.sw.korea/123738
- DOI
- 10.1016/j.jsv.2007.09.040
- ISSN
- 0022-460X
- Abstract
- For surgical devices used in minimally invasive surgery, compact multi-degree-of-freedom (multi-dof) actuators are required due to a small work space in the patient body. With conventional single-dof actuators such as electromagnetic motors, a multiple number of actuators are required to generate multi-dof motion. Moreover, additional transmission mechanisms make the total system even larger and heavier. In contrast, a single unit of multi-dof ultrasonic actuator can generate multi-dof rotation of a spherical rotor by utilizing three natural vibration modes of a bar-shaped stator. In our previous work we designed and built a surgical forceps with a wrist capable of two-dof motion, using a single multi-dof ultrasonic motor. The present study proposes a novel control scheme to generate three-dof motion of the surgical instrument for minimally invasive surgical procedures. Through experiments we have confirmed the system performance of the developed device. (c) 2007 Elsevier Ltd. All rights reserved.
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Collections - College of Engineering > Department of Mechanical Engineering > 1. Journal Articles
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