Multi degrees of freedom forceps for ultrasonically activated device using ultrasonic motor

Etsuko Kobayashi, Hisashi Sakamoto, Choi Woojin, Takeshi Morita, Takefumi Kanda, Ichiro Sakuma

Research output: Contribution to journalConference article

1 Citation (Scopus)


We have developed multi degrees of freedom forceps which has one degree of bending and one degree of tip rotation freedom for small USAD. Especially, we developed a ultrasonic motor for rotation mechanism, which has various merits of small size and high-torque. For actuation mechanism, we selected cylinder-type ultrasonic motor. Bulk piezoelectric zirconate titanate (PZT) cylinder was used as a stator transducer. Inner diameter and outer diameter of the actuator was 13 mm and 14 mm and length was 25mm. In rotation property evaluation experiment, we confirmed that the actuator has sufficient rotation speed and holding torque. From positioning experiment, we have achieved smooth approach to the brood vessel model using the mechanism.

Original languageEnglish
Pages (from-to)70-73
Number of pages4
JournalProcedia CIRP
Publication statusPublished - Sep 18 2013
Event1st CIRP Conference on BioManufacturing, BioM 2013 - Tokyo, Japan
Duration: Mar 3 2013Mar 5 2013



  • Forceps manipulator
  • Ulstrasonic motor
  • Ultrasonically activated device

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Industrial and Manufacturing Engineering

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