Study on Multi-DOF Ultrasonic Actuator for Laparoscopic Instrument
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概要
- 論文の詳細を見る
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.
- 一般社団法人日本機械学会の論文
- 2004-06-15
著者
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Maeno Takashi
Department Of Mechanical Engineering Keio University
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PARK Shinsuk
Department of Mechanical Engineering, Keio University
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TAKEMURA Kenjiro
Precision and Intelligence Laboratory, Tokyo Institute of Technology
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Takemura Kenjiro
Precision And Intelligence Laboratory Tokyo Institute Of Technology
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Park Shinsuk
Department Of Mechanical Engineering Keio University
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