Design and modeling of a piezoelectric actuator for minimally invasive surgery

Ben Edinger, Mary Frecker, Gary H. Koopmann

Research output: Chapter in Book/Report/Conference proceedingConference contribution


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.

Original languageEnglish (US)
Title of host publicationAdaptive Structures and Material Systems
PublisherAmerican Society of Mechanical Engineers (ASME)
Number of pages7
ISBN (Electronic)9780791819135
StatePublished - 2000
EventASME 2000 International Mechanical Engineering Congress and Exposition, IMECE 2000 - Orlando, United States
Duration: Nov 5 2000Nov 10 2000

Publication series

NameASME International Mechanical Engineering Congress and Exposition, Proceedings (IMECE)


ConferenceASME 2000 International Mechanical Engineering Congress and Exposition, IMECE 2000
Country/TerritoryUnited States

All Science Journal Classification (ASJC) codes

  • Mechanical Engineering

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