Title :
Frequency modulation velocity control of multiple cybernetic actuators for two-lead-wire drive
Author :
Nokata, Makoto ; Ikuta, Koji
Author_Institution :
Sch. of Eng., Nagoya Univ., Japan
Abstract :
A new concept for an active endoscope with hyper redundancy has been already proposed. 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. FMVC (Frequency Modulation Velocity Control) with two lead wires as an analog control method has been perfected
Keywords :
biocontrol; biocybernetics; frequency modulation; mechatronics; medical robotics; microactuators; micromanipulators; microrobots; multi-robot systems; piezoelectric actuators; redundant manipulators; surgery; velocity control; FM velocity control; active endoscope; analog control method; dynamic model; hyper endoscope; hyper redundancy; medical tool; microrobots; miniature cybernetic actuators; minimally invasive surgery; minimum wire drive; multiple cybernetic actuators; piezoelectric effect; two-lead-wire drive; Actuators; Biomedical engineering; Cybernetics; Digital control; Endoscopes; Frequency modulation; Medical control systems; Prototypes; Velocity control; Wires;
Conference_Titel :
Micromechatronics and Human Science, 1999. MHS '99. Proceedings of 1999 International Symposium on
Conference_Location :
Nagoya
Print_ISBN :
0-7803-5790-6
DOI :
10.1109/MHS.1999.819992
