Control of multi-dof ultrasonic actuator for dexterous surgical instrument
DC Field | Value | Language |
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dc.contributor.author | Takemura, Kenjiro | - |
dc.contributor.author | Park, Shinsuk | - |
dc.contributor.author | Maeno, Takashi | - |
dc.date.accessioned | 2021-09-09T09:22:54Z | - |
dc.date.available | 2021-09-09T09:22:54Z | - |
dc.date.created | 2021-06-10 | - |
dc.date.issued | 2008-04-08 | - |
dc.identifier.issn | 0022-460X | - |
dc.identifier.uri | https://scholar.korea.ac.kr/handle/2021.sw.korea/123738 | - |
dc.description.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. | - |
dc.language | English | - |
dc.language.iso | en | - |
dc.publisher | ACADEMIC PRESS LTD- ELSEVIER SCIENCE LTD | - |
dc.title | Control of multi-dof ultrasonic actuator for dexterous surgical instrument | - |
dc.type | Article | - |
dc.contributor.affiliatedAuthor | Park, Shinsuk | - |
dc.identifier.doi | 10.1016/j.jsv.2007.09.040 | - |
dc.identifier.scopusid | 2-s2.0-38749150270 | - |
dc.identifier.wosid | 000253872300005 | - |
dc.identifier.bibliographicCitation | JOURNAL OF SOUND AND VIBRATION, v.311, no.3-5, pp.652 - 666 | - |
dc.relation.isPartOf | JOURNAL OF SOUND AND VIBRATION | - |
dc.citation.title | JOURNAL OF SOUND AND VIBRATION | - |
dc.citation.volume | 311 | - |
dc.citation.number | 3-5 | - |
dc.citation.startPage | 652 | - |
dc.citation.endPage | 666 | - |
dc.type.rims | ART | - |
dc.type.docType | Article | - |
dc.description.journalClass | 1 | - |
dc.description.journalRegisteredClass | scie | - |
dc.description.journalRegisteredClass | scopus | - |
dc.relation.journalResearchArea | Acoustics | - |
dc.relation.journalResearchArea | Engineering | - |
dc.relation.journalResearchArea | Mechanics | - |
dc.relation.journalWebOfScienceCategory | Acoustics | - |
dc.relation.journalWebOfScienceCategory | Engineering, Mechanical | - |
dc.relation.journalWebOfScienceCategory | Mechanics | - |
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