A local hybrid actuator for robotic surgery instruments. (1st January 2014)

• Record Type: Journal Article
• Authors: Saedi, Soheil; Mirbagheri, Alireza; Jafari, Ali; Farahmand, Farzam
• Is Part Of: International journal of biomechatronics and biomedical robotics. Volume 3:Number 2(2014)
• Page Start: 100
• Page End: 105
• Publication Date: 2014-01-01
• Subjects: biomechatronics -- robotic surgery -- hybrid actuation -- local actuation -- motorised instrument -- piezoelectric actuator; Medical electronics -- Periodicals; Biomedical engineering -- Periodicals; 610.2805
• Languages: English
• ISSNs: 1757-6792

Abstract

A major problem in the design of miniature scale motorised endoscopic instruments is the actuation mechanism at the instrument's tip, especially when a high level of functionality and multi degrees of freedom (DOF) are concerned. In the present study, a new design for hybrid local-actuation of endoscopic instruments is proposed which includes a micro DC motor and a piezoelectric (PZT) actuator. A compact serial configuration was considered for the actuators. The DC motor provides the long movement course required for opening-closing function of the gripper while the PZT guaranteed the high gripping force needed for holding the needle. The efficacy of the design was evaluated in a simulation study using FEM, and it was shown that the needle holder is capable of applying a sufficiently high gripping force, up to 22 N. The feasibility of the design was further approved in experimental examination of a 4× scaled prototype of the instrument.