Study on multi-DOF ultrasonic actuator for laparoscopic instrument

Shinsuk Park; Kenjiro Takemura; Takashi Maeno

doi:10.1299/jsmec.47.574

Study on multi-DOF ultrasonic actuator for laparoscopic instrument

Shinsuk Park, Kenjiro Takemura, Takashi Maeno

Research output: Contribution to journal › Article › peer-review

6 Citations (Scopus)

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	https://doi.org/10.1299/jsmec.47.574
Publication status	Published - 2004 Jun
Externally published	Yes

Keywords

Laparoscopic forceps
Minimally invasive surgery
Ultrasonic motor

ASJC Scopus subject areas

Mechanical Engineering
Industrial and Manufacturing Engineering

Access to Document

10.1299/jsmec.47.574

Cite this

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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.",

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Study on multi-DOF ultrasonic actuator for laparoscopic instrument

Abstract

Keywords

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