TY - GEN
T1 - Design and modeling of a piezoelectric actuator for minimally invasive surgery
AU - Edinger, Ben
AU - Frecker, Mary
AU - Koopmann, Gary H.
N1 - Funding Information:
The support of the Penn State Pearce Endowed Development- Professorship and the Penn State/US Surgical Minimally Invasive Surgery Program is gratefully acknowledged.
Publisher Copyright:
© 2000 by ASME
PY - 2000
Y1 - 2000
N2 - A small-scale piezoelectric actuator has been designed for use in minimally invasive surgery. The actuator is designed to actuate a compliant suture needle grasper as part of a telerobotic surgical system. The actuator consists of a single piezoceramic stack and a slider-crank mechanism which acts as a mechanical stroke amplifier. The main focus of this paper is on the design of the actuator and fabrication and test of a prototype as a proof of concept. The design and fabrication of the prototype actuator is discussed as well as experimental results measuring its performance. A quasi-static model of the actuator which predicts the mechanical amplification and force response is also discussed. Results from laboratory bench-top experiments are presented, and the actuator together with the compliant gripper are shown to grasp and hold a standard suture needle.
AB - A small-scale piezoelectric actuator has been designed for use in minimally invasive surgery. The actuator is designed to actuate a compliant suture needle grasper as part of a telerobotic surgical system. The actuator consists of a single piezoceramic stack and a slider-crank mechanism which acts as a mechanical stroke amplifier. The main focus of this paper is on the design of the actuator and fabrication and test of a prototype as a proof of concept. The design and fabrication of the prototype actuator is discussed as well as experimental results measuring its performance. A quasi-static model of the actuator which predicts the mechanical amplification and force response is also discussed. Results from laboratory bench-top experiments are presented, and the actuator together with the compliant gripper are shown to grasp and hold a standard suture needle.
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U2 - 10.1115/IMECE2000-1718
DO - 10.1115/IMECE2000-1718
M3 - Conference contribution
AN - SCOPUS:85119657554
T3 - ASME International Mechanical Engineering Congress and Exposition, Proceedings (IMECE)
SP - 299
EP - 305
BT - Adaptive Structures and Material Systems
PB - American Society of Mechanical Engineers (ASME)
T2 - ASME 2000 International Mechanical Engineering Congress and Exposition, IMECE 2000
Y2 - 5 November 2000 through 10 November 2000
ER -