Two-lead-wire drive for multi-micro actuators [medical micro robots]

Author

Ikuta, Koji ; Nokata, Makoto

Author_Institution

Dept. of Micro Syst. Eng., Nagoya Univ., Japan

Volume

3

fYear

1999

fDate

1999

Firstpage

2378

Abstract

We have proposed a new concept for an active endoscope with hyper redundancy. This medical tool called “Hyper Endoscope” for minimally invasive surgery is driven by miniature cybernetic actuators. A dynamic model of the cybernetic actuator, taking into account its piezoelectric effect, is proposed and its detailed performance analyzed. Based on the result, a new technique to minimize the number of lead wires is proposed and verified experimentally. The frequency modulation velocity control with two lead wires as an analog control method has been perfected

Keywords

drives; frequency modulation; medical robotics; microactuators; micromanipulators; piezoelectric actuators; surgery; velocity control; Hyper Endoscope; active endoscope; analog control method; dynamic model; frequency modulation velocity control; hyper redundancy; medical micro robots; miniature cybernetic actuators; minimally invasive surgery; multi-micro actuators; piezoelectric effect; two-lead-wire drive; Abdomen; Actuators; Cybernetics; Decoding; Endoscopes; Medical robotics; Microactuators; Minimally invasive surgery; Prototypes; Wires;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on

Conference_Location

Detroit, MI

ISSN

1050-4729

Print_ISBN

0-7803-5180-0

Type

conf

DOI

10.1109/ROBOT.1999.770461

Filename

770461