Study on Multi-DOF Ultrasonic Actuator for Laparoscopic Instrument

• PARK Shinsuk

  Department of Mechanical Engineering, Keio University

• TAKEMURA Kenjiro

  Precision and Intelligence Laboratory, Tokyo Institute of Technology

• MAENO Takashi

  Department of Mechanical Engineering, Keio University

抄録

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.

収録刊行物

• JSME International Journal Series C Mechanical Systems, Machine Elements and Manufacturing

  JSME International Journal Series C Mechanical Systems, Machine Elements and Manufacturing 47 (2), 574-581, 2004

  一般社団法人 日本機械学会

キーワード

• Ultrasonic Motor
• Minimally Invasive Surgery
• Laparoscopic Forceps

詳細情報

• CRID: 1390001204680615168
• NII論文ID: 110004820778
• NII書誌ID: AA11179487
• DOI: 10.1299/jsmec.47.574
• ISSN: 1347538X
• ISSN: 13447653
• NDL書誌ID: 6970071
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I6970071
• Web Site: http://www.jstage.jst.go.jp/article/jsmec/47/2/47_2_574/_pdf
• 本文言語コード: en
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