Study of the Piezoelectric Element Based Micro Robot for Celiac Operation

LI Bo; WU Yue-hua; XU Min; DU Hua-sheng; YANG Jie

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Study of the Piezoelectric Element Based Micro Robot for Celiac Operation

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- Study of the Piezoelectric Element Based Micro Robot for Celiac Operation
- Optics and Precision Engineering Vol. 9, Issue 6, Pages: 535-538(2001)
- 作者机构：
  
  中国科学技术大学工程科学学院,安徽合肥,230027
- 作者简介：
- 基金信息：
- DOI：
  CLC： TP242
- Received：20 August 2001，
  
  Revised：28 September 2001，
  
  Published Online：15 December 2001，
  
  Published：15 December 2001
- 稿件说明：
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李勃, 吴月华, 许旻, 杜华生, 杨杰. 基于压电陶瓷驱动的腹腔手术微型机器人[J]. 光学精密工程, 2001,(6): 535-538

LI Bo, WU Yue-hua, XU Min, DU Hua-sheng, YANG Jie . Study of the Piezoelectric Element Based Micro Robot for Celiac Operation[J]. Editorial Office of Optics and Precision Engineering, 2001,(6): 535-538
李勃, 吴月华, 许旻, 杜华生, 杨杰. 基于压电陶瓷驱动的腹腔手术微型机器人[J]. 光学精密工程, 2001,(6): 535-538 DOI：

LI Bo, WU Yue-hua, XU Min, DU Hua-sheng, YANG Jie . Study of the Piezoelectric Element Based Micro Robot for Celiac Operation[J]. Editorial Office of Optics and Precision Engineering, 2001,(6): 535-538 DOI：

摘要

介绍了一个基于压电陶瓷驱动的多节蛇型游动腹腔手术微型机器人

其特点是响应速度快

运动精度高

作用力与动作范围大

每一节均可实现两个自由度方向上±60°范围内迅捷而灵活的动作.对设计中的两个

Abstract

The authors introduce a micro snake like robot system for celiac operation driven by the piezoelectric element based mini-displacement driver

which features small size

high precision displacement

prompt response and adequate output force. Every segment of the robot can rotate on 2-freedom direction in a range of ?60? freely and rapidly. Two essential questions in designing the system i.e.

the structure and moving mechanism of the piezoelectric element based mini-displacement driver; the structure of the special robot joint

are specified and discussed. Finally

the system simulation on computer is given.

关键词

Keywords

references

中村仁彦,松井启. 腹腔镜下外科手术用能动钳子的制御[A]. 日本机械学会95年讲演论文集[C],1995,420-423.

张涛,孙立宁,蔡鹤皋.压电陶瓷基本特性研究[J].光学精密工程,1998,6(5):26-32.

Holland R. Representation of the dielectric, elastic, and piezoelectric losses by complex coefficients[J]. IEEE Trans. Sonic Ultra, 1967, 14:18～20.

杨杰. SMA大肠内窥镜的导向机理与控制计算[J].中国科技大学学报,1998,28(1):21-26.

贾宏光,吴一辉,于振雷,等.压电驱动微位移工作台动态特性分析[J]. 光学精密工程.2000,18(5):440-442.

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Related Author

LU Yong-kui

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Department of Precision Machinery and Precision Instrument, University of Science and Technology of China, Hefei, 230027, China

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