Design of piezoelectric inchworm actuator and compliant end-effector for minimally invasive surgery

Shawn Canfield, Ben Edinger, Mary Frecker, Gary Koopmann

Research output: Contribution to journalConference articlepeer-review

28 Scopus citations

Abstract

Recent advances in robotics, tele-robotics, smart material actuators, and mechatronics raise new possibilities for innovative developments in millimeter-scale robotics capable of manipulating objects only fractions of a millimeter in size. These advances can have a wide range of applications in the biomedical community. A potential application of this technology is in minimally invasive surgery (MIS). The focus of this paper is the development of a single degree of freedom prototype to demonstrate the viability of smart materials, force feedback and compliant mechanisms for minimally invasive surgery. The prototype is a compliant gripper that is 7-mm by 17-mm, made from a single piece of titanium that is designed to function as a needle driver for small scale suturing. A custom designed piezoelectric `inchworm' actuator drives the gripper. The integrated system is computer controlled providing a user interface device capable of force feedback. The design methodology described draws from recent advances in three emerging fields in engineering: design of innovative tools for MIS, design of compliant mechanisms, and design of smart materials and actuators. The focus of this paper is on the design of a millimeter-scale inchworm actuator for use with a compliant end effector in MIS.

Original languageEnglish (US)
Pages (from-to)835-843
Number of pages9
JournalProceedings of SPIE - The International Society for Optical Engineering
Volume3668
Issue numberII
StatePublished - Jan 1 1999
EventProceedings of the 1999 Smart Structures and Materials - Smart Structures and Integrated Systems - Newport Beach, CA, USA
Duration: Mar 1 1999Mar 4 1999

All Science Journal Classification (ASJC) codes

  • Electronic, Optical and Magnetic Materials
  • Condensed Matter Physics
  • Computer Science Applications
  • Applied Mathematics
  • Electrical and Electronic Engineering

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