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A Dexterous Surgical Manipulation Tool Using Self-Sensing Magnetoelectric Actuators

[+] Author Affiliations
Yezuo Wang, Jayasimha Atulasimha

Virginia Commonwealth University, Richmond, VA

Paper No. SMASIS2010-3692, pp. 767-771; 5 pages
doi:10.1115/SMASIS2010-3692
From:
  • ASME 2010 Conference on Smart Materials, Adaptive Structures and Intelligent Systems
  • ASME 2010 Conference on Smart Materials, Adaptive Structures and Intelligent Systems, Volume 1
  • Philadelphia, Pennsylvania, USA, September 28–October 1, 2010
  • Conference Sponsors: Aerospace Division
  • ISBN: 978-0-7918-4415-1 | eISBN: 978-0-7918-3886-0
  • Copyright © 2010 by ASME

abstract

In this paper, a dexterous surgical manipulation tool is developed, and characterized using a magnetoelectric self-sensing actuator. The magnetoelectric actuator is made up of three magnetoelectric cantilevers, which are mounted in a specific configuration. Each of the magnetoelectric cantilevers is composed of Galfenol and PZT-5H. The device consists of a single larger magnetoelectric cantilever that is capable of producing an up-down movement upon remote application of a magnetic field to the magnetostrictive layer. Towards one of the ends of this actuator two smaller magnetoelectric cantilevers are attached that are capable of producing a deflection in a side-ways direction making them well suited for gripping action. The shape-anisotropy of the magnetostrictive layers is designed to ensure a controlled sequence of gripping action and up-down movement when these cantilevers are actuated via a remote magnetic field which induces bending in them. The electrical signal generated by the piezoelectric layer is used to provide a sensing signal for both tactile sensing (and gripping) and deflection. This can be used in a closed loop control system.

Copyright © 2010 by ASME
Topics: Actuators , Surgery

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