Multi degrees of freedom forceps for ultrasonically activated device using ultrasonic motor

Etsuko Kobayashi; Hisashi Sakamoto; Choi Woojin; Takeshi Morita; Takefumi Kanda; Ichiro Sakuma

doi:10.1016/j.procir.2013.01.014

Multi degrees of freedom forceps for ultrasonically activated device using ultrasonic motor

Etsuko Kobayashi, Hisashi Sakamoto, Choi Woojin, Takeshi Morita, Takefumi Kanda, Ichiro Sakuma

School of Engineering

Research output: Contribution to journal › Conference article › peer-review

2 Citations (Scopus)

Abstract

We have developed multi degrees of freedom forceps which has one degree of bending and one degree of tip rotation freedom for small USAD. Especially, we developed a ultrasonic motor for rotation mechanism, which has various merits of small size and high-torque. For actuation mechanism, we selected cylinder-type ultrasonic motor. Bulk piezoelectric zirconate titanate (PZT) cylinder was used as a stator transducer. Inner diameter and outer diameter of the actuator was 13 mm and 14 mm and length was 25mm. In rotation property evaluation experiment, we confirmed that the actuator has sufficient rotation speed and holding torque. From positioning experiment, we have achieved smooth approach to the brood vessel model using the mechanism.

Original language	English
Pages (from-to)	70-73
Number of pages	4
Journal	Procedia CIRP
Volume	5
DOIs	https://doi.org/10.1016/j.procir.2013.01.014
Publication status	Published - 2013
Event	1st CIRP Conference on BioManufacturing, BioM 2013 - Tokyo, Japan Duration: Mar 3 2013 → Mar 5 2013

Keywords

Forceps manipulator
Ulstrasonic motor
Ultrasonically activated device

ASJC Scopus subject areas

Control and Systems Engineering
Industrial and Manufacturing Engineering

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10.1016/j.procir.2013.01.014

Cite this

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title = "Multi degrees of freedom forceps for ultrasonically activated device using ultrasonic motor",

abstract = "We have developed multi degrees of freedom forceps which has one degree of bending and one degree of tip rotation freedom for small USAD. Especially, we developed a ultrasonic motor for rotation mechanism, which has various merits of small size and high-torque. For actuation mechanism, we selected cylinder-type ultrasonic motor. Bulk piezoelectric zirconate titanate (PZT) cylinder was used as a stator transducer. Inner diameter and outer diameter of the actuator was 13 mm and 14 mm and length was 25mm. In rotation property evaluation experiment, we confirmed that the actuator has sufficient rotation speed and holding torque. From positioning experiment, we have achieved smooth approach to the brood vessel model using the mechanism.",

keywords = "Forceps manipulator, Ulstrasonic motor, Ultrasonically activated device",

author = "Etsuko Kobayashi and Hisashi Sakamoto and Choi Woojin and Takeshi Morita and Takefumi Kanda and Ichiro Sakuma",

year = "2013",

doi = "10.1016/j.procir.2013.01.014",

language = "English",

volume = "5",

pages = "70--73",

journal = "Procedia CIRP",

issn = "2212-8271",

publisher = "Elsevier BV",

note = "1st CIRP Conference on BioManufacturing, BioM 2013 ; Conference date: 03-03-2013 Through 05-03-2013",

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TY - JOUR

T1 - Multi degrees of freedom forceps for ultrasonically activated device using ultrasonic motor

AU - Kobayashi, Etsuko

AU - Sakamoto, Hisashi

AU - Woojin, Choi

AU - Morita, Takeshi

AU - Kanda, Takefumi

AU - Sakuma, Ichiro

PY - 2013

Y1 - 2013

N2 - We have developed multi degrees of freedom forceps which has one degree of bending and one degree of tip rotation freedom for small USAD. Especially, we developed a ultrasonic motor for rotation mechanism, which has various merits of small size and high-torque. For actuation mechanism, we selected cylinder-type ultrasonic motor. Bulk piezoelectric zirconate titanate (PZT) cylinder was used as a stator transducer. Inner diameter and outer diameter of the actuator was 13 mm and 14 mm and length was 25mm. In rotation property evaluation experiment, we confirmed that the actuator has sufficient rotation speed and holding torque. From positioning experiment, we have achieved smooth approach to the brood vessel model using the mechanism.

AB - We have developed multi degrees of freedom forceps which has one degree of bending and one degree of tip rotation freedom for small USAD. Especially, we developed a ultrasonic motor for rotation mechanism, which has various merits of small size and high-torque. For actuation mechanism, we selected cylinder-type ultrasonic motor. Bulk piezoelectric zirconate titanate (PZT) cylinder was used as a stator transducer. Inner diameter and outer diameter of the actuator was 13 mm and 14 mm and length was 25mm. In rotation property evaluation experiment, we confirmed that the actuator has sufficient rotation speed and holding torque. From positioning experiment, we have achieved smooth approach to the brood vessel model using the mechanism.

KW - Forceps manipulator

KW - Ulstrasonic motor

KW - Ultrasonically activated device

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U2 - 10.1016/j.procir.2013.01.014

DO - 10.1016/j.procir.2013.01.014

M3 - Conference article

AN - SCOPUS:84883895389

SN - 2212-8271

VL - 5

SP - 70

EP - 73

JO - Procedia CIRP

JF - Procedia CIRP

T2 - 1st CIRP Conference on BioManufacturing, BioM 2013

Y2 - 3 March 2013 through 5 March 2013

ER -

Multi degrees of freedom forceps for ultrasonically activated device using ultrasonic motor

Abstract

Keywords

ASJC Scopus subject areas

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