Abstract
In surgical robots, compact manipulators with multi-degree-of-freedom (DOF) are essential owing to a small work volume in the patient body. Conventional single-DOF actuators such as electromagnetic motors require a multiple number of actuators to generate multi-DOF motion, which in turn results in bulky mechanism combined with transmission device. Our previous work has developed a compact ultrasonic motor capable of generating a multi-DOF rotation of a spherical rotor utilizing three natural vibration modes of a bar-shaped stator. The present study designs and builds a novel multi-DOF master-slave system for laparoscopic surgical procedures, using a single ultrasonic actuator. The system consists of surgical forceps on multi-DOF wrist with joystick controller. Experimental results have confirmed high responsiveness and precise position control of the master-slave system.
| Original language | English |
|---|---|
| Pages (from-to) | 574-581 |
| Number of pages | 8 |
| Journal | JSME International Journal, Series C: Mechanical Systems, Machine Elements and Manufacturing |
| Volume | 47 |
| Issue number | 2 |
| DOIs | |
| Publication status | Published - 2004 Jun |
Keywords
- Laparoscopic forceps
- Minimally invasive surgery
- Ultrasonic motor
ASJC Scopus subject areas
- Mechanical Engineering
- Industrial and Manufacturing Engineering