TY - GEN
T1 - Development of rotary-linear piezoelectric actuator for MRI compatible manipulator
AU - Mashimo, Tomoaki
AU - Toyama, Shigeki
AU - Matsuda, Hiroshi
PY - 2008
Y1 - 2008
N2 - This paper presents the development of rotary and linear piezoelectric actuator (rotary-linear motor) for a surgical manipulator with MRI compatibility. The stator of the rotary-linear motor is fabricated as a single metallic cube with a through-hole and shaft is inserted to the through-hole. Four piezoelectric elements are bonded to the sides of the stator. When AC voltage at each resonant frequency is applied to the piezoelectric elements, the shaft can move to the rotary and linear directions. There are several control inputs such as the voltage, the frequency, and the phase difference of two AC voltages to control the motor. We have measured the characteristics of the control inputs. As the result, the control characteristics of voltages were linear and were better than those of the frequency and phase difference. On the other hand, the MRI compatibility test was conducted in 0.3 Tesla MRI. MRI image shows the practical quality of the image in the case of that the motor is placed at the center of the imaging volume of MRI while the motor is not driven.
AB - This paper presents the development of rotary and linear piezoelectric actuator (rotary-linear motor) for a surgical manipulator with MRI compatibility. The stator of the rotary-linear motor is fabricated as a single metallic cube with a through-hole and shaft is inserted to the through-hole. Four piezoelectric elements are bonded to the sides of the stator. When AC voltage at each resonant frequency is applied to the piezoelectric elements, the shaft can move to the rotary and linear directions. There are several control inputs such as the voltage, the frequency, and the phase difference of two AC voltages to control the motor. We have measured the characteristics of the control inputs. As the result, the control characteristics of voltages were linear and were better than those of the frequency and phase difference. On the other hand, the MRI compatibility test was conducted in 0.3 Tesla MRI. MRI image shows the practical quality of the image in the case of that the motor is placed at the center of the imaging volume of MRI while the motor is not driven.
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U2 - 10.1109/IROS.2008.4650623
DO - 10.1109/IROS.2008.4650623
M3 - Conference contribution
AN - SCOPUS:69549105913
SN - 9781424420582
T3 - 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
SP - 113
EP - 118
BT - 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
T2 - 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
Y2 - 22 September 2008 through 26 September 2008
ER -