Modeling and Design of a Piezoelectric Forceps Actuator for Meso∕Micro Grasping

[+] Author and Article Information
Ken Susanto

Department of Aerospace and Mechanical Engineering,  University of Southern California, Los Angeles, CA 90089-1453ksusanto@verizon.net

Bingen Yang

Department of Aerospace and Mechanical Engineering,  University of Southern California, Los Angeles, CA 90089-1453

J. Med. Devices 1(1), 30-37 (Jul 31, 2006) (8 pages) doi:10.1115/1.2355687 History: Received March 30, 2006; Revised July 31, 2006

Meso∕micro grasping of tiny soft objects such as biological tissues, which ranges from hundreds to thousands of micro-millimeters in dimension, plays a significant role in the fields of tele-surgery, minimally invasive surgery (MIS), and biomedical instrumentation. Recently, the authors proposed a novel piezoelectric forceps actuator (PFA), which is capable of grasping delicate soft objects. One of the advantages of the PFA over conventional MIS forceps lies in that it can be remotely controlled to achieve precision deflection and grasping force. Furthermore, it does not have any moving parts such as gears and hinges, and hence avoids problems in operation like friction, backlash, lubrication, leakage, and sterilization. In this paper, a mathematical model of the PFA is derived, based on which genetic algorithm (GA) is applied to optimize the grasping force-deflection relationship of the actuator. The model developed is experimentally verified on a prototype of the PFA.

Copyright © 2007 by American Society of Mechanical Engineers
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Figure 1

Piezoelectric forceps actuator (PFA) (a) schematic drawing with its dimensions, (b) grasps a thin wire through long narrow beaker. Size of the cotton buds, (c) integrated with an endoscope.

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Figure 2

The PFA (a) closes its jaws, (b) opens its jaws

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Figure 3

Schematic diagram of the PFA with its notation

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Figure 4

Lower part portion of the PFA (A-B segment) under mechanical and piezoelectric moments

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Figure 5

Experimental grasping force of the PFA measured by MiliNewton™ force sensor, (a) schematic diagram of the PFA grasps a cantilever beam force sensor, (b) top view, tip jaw of the PFA is ready to grasp the force sensor

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Figure 6

The curvature fiber optic sensor, Measurand™, mounted on the PFA, which is clamped at one end and the other end is free to open and close its jaws

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Figure 7

Theoretical radial deflection of the PFA verified with experimental measurements, (a) low drive from 0to100V, (b) high drive from −300to300V

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Figure 8

Numerical simulation of the genetic algorithm, (a) best candidate individual performance of the design variables of the PFA, (b) maximum grasping force generated at the tip jaw of the PFA

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Figure 9

Theoretical grasping force model of the PFA verified with experimental result




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