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Proceedings Paper

Design of a piezoelectric inchworm actuator and compliant end effector for minimally invasive surgery
Author(s): Shawn Canfield; Ben Edinger; Mary I. Frecker; Gary H. Koopmann
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Paper 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.

Paper Details

Date Published: 9 June 1999
PDF: 9 pages
Proc. SPIE 3668, Smart Structures and Materials 1999: Smart Structures and Integrated Systems, (9 June 1999); doi: 10.1117/12.350759
Show Author Affiliations
Shawn Canfield, The Pennsylvania State Univ. (United States)
Ben Edinger, The Pennsylvania State Univ. (United States)
Mary I. Frecker, The Pennsylvania State Univ. (United States)
Gary H. Koopmann, The Pennsylvania State Univ. (United States)


Published in SPIE Proceedings Vol. 3668:
Smart Structures and Materials 1999: Smart Structures and Integrated Systems
Norman M. Wereley, Editor(s)

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