TY - JOUR
T1 - Study on multi-DOF ultrasonic actuator for laparoscopic instrument
AU - Park, Shinsuk
AU - Takemura, Kenjiro
AU - Maeno, Takashi
PY - 2004/6
Y1 - 2004/6
N2 - 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.
AB - 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.
KW - Laparoscopic forceps
KW - Minimally invasive surgery
KW - Ultrasonic motor
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U2 - 10.1299/jsmec.47.574
DO - 10.1299/jsmec.47.574
M3 - Article
AN - SCOPUS:4644306070
SN - 1344-7653
VL - 47
SP - 574
EP - 581
JO - JSME International Journal, Series C: Mechanical Systems, Machine Elements and Manufacturing
JF - JSME International Journal, Series C: Mechanical Systems, Machine Elements and Manufacturing
IS - 2
ER -