TY - JOUR
T1 - Control of multi-dof ultrasonic actuator for dexterous surgical instrument
AU - Takemura, Kenjiro
AU - Park, Shinsuk
AU - Maeno, Takashi
N1 - Funding Information:
This research was supported by the Japan Society of the Promotion Science. The authors gratefully acknowledge this support.
PY - 2008/4/8
Y1 - 2008/4/8
N2 - 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.
AB - 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.
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U2 - 10.1016/j.jsv.2007.09.040
DO - 10.1016/j.jsv.2007.09.040
M3 - Article
AN - SCOPUS:38749150270
SN - 0022-460X
VL - 311
SP - 652
EP - 666
JO - Journal of Sound and Vibration
JF - Journal of Sound and Vibration
IS - 3-5
ER -