Control of multi-dof ultrasonic actuator for dexterous surgical instrument

Research output: Contribution to journalArticle

31 Citations (Scopus)

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.

Original languageEnglish
Pages (from-to)652-666
Number of pages15
JournalJournal of Sound and Vibration
Volume311
Issue number3-5
DOIs
Publication statusPublished - 2008 Apr 8

Fingerprint

surgical instruments
Actuators
degrees of freedom
ultrasonics
actuators
Ultrasonics
wrist
Surgery
Stators
stators
surgery
Rotors
rotors
vibration mode
electromagnetism
Experiments

ASJC Scopus subject areas

  • Engineering(all)
  • Mechanical Engineering

Cite this

Control of multi-dof ultrasonic actuator for dexterous surgical instrument. / Takemura, Kenjiro; Park, Shinsuk; Maeno, Takashi.

In: Journal of Sound and Vibration, Vol. 311, No. 3-5, 08.04.2008, p. 652-666.

Research output: Contribution to journalArticle

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