Micro mechatronics and micro actuators

Ishihara, Hidenori; Arai, Fumihito; Fukuda, Toshio

doi:10.1109/3516.491411

Cited by 116 publications

(67 citation statements)

References 35 publications

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“…Different actuators become preferable at scales less than a few millimeters, for surgical applications, most notably SMA and polymer actuators [46]. Both SMA and polymers permit fairly large strains, making them suitable for applications such as catheters, where bending is significant.…”

Section: Actuationmentioning

confidence: 99%

Applications of micromechatronics in minimally invasive surgery

Tendick,

Sastry,

Fearing

et al. 1998

IEEE/ASME Trans. Mechatron.

100

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Abstract-Many surgical procedures are now performed using the techniques of minimally invasive surgery (MIS), in which unnecessary trauma is limited by reducing the size of incisions to less than about 1 cm or by using catheters or endoscopes threaded through vessels, the gastrointestinal tract, or other tubular structures. Micromechatronic technologies have great potential to allow access to regions now inaccessible, or to enhance the surgeon's abilities in applications where current minimally invasive techniques do not permit the full range of human dexterity and perception. Key needs and applications in MIS are identified, and relevant technologies, methods, and systems issues in mechatronics are discussed. The authors' millirobotic system for MIS of the abdomen is used as an example.

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Section: Actuationmentioning

confidence: 99%

Applications of micromechatronics in minimally invasive surgery

Tendick,

Sastry,

Fearing

et al. 1998

IEEE/ASME Trans. Mechatron.

100

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“…where C H and C 0 are the Young's modulus of the homogenized material and basic material that will be distributed in the domain, respectively, ρ 1 is a pseudo-density describing the amount of material at each point of the design domain, which can assume values between 0 and 1, and p ∈ [1,4] is a penalization factor to recover the discrete design. For ρ 1 equal to 0 the material is equal to void, and for ρ 1 equal to 1 the material is equal to solid material.…”

Section: Design Problem Formulationmentioning

confidence: 99%

“…[1][2][3] The micro-tools considered in this work essentially consist of multi-flexible structures actuated by two or more FGM ("Functionally Graded Material") piezoceramic devices that must generate different output displacements and forces at different specified points of the domain and on different directions (see Figure 1). The multiflexible structure acts as a mechanical transformer by amplifying and changing the direction of the piezoceramics output displacements.…”

Section: Introductionmentioning

confidence: 99%

Multi-actuated functionally graded piezoelectric micro-tools design using topology optimization

Carbonari¹,

Silva²,

Paulino

2006

Smart Structures and Materials 2006: Modeling, Signal Processing, and Control

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The micro-tools considered in this work consist essentially of multi-flexible structures actuated by two or more piezoceramic devices that must generate different output displacements and forces at different specified points of the domain and on different directions. The multiflexible structure acts as a mechanical transformer by amplifying and changing the direction of the piezoceramics output displacements. Micro-tools offer significant promise in a wide range of applications such as cell manipulation, microsurgery, and micro/nanotechnology processes. Although the design of these micro-tools is complicated due to the coupling among movements generated by various piezoceramics, it can be realized by means of topology optimization concepts. Recently, the concept of functionally graded materials (FGMs) has been explored in piezoelectric materials to improve performance and increase lifetime of piezoelectric actuators. Usually for an FGM piezoceramic, elastic, piezoelectric, and dielectric properties are graded along the thickness. Thus, the objective of this work is to study the influence of piezoceramic property gradation in the design of the multiflexible structures of piezoelectric micro-tools using topology optimization. The optimization problem is posed as the design of a flexible structure that maximizes different output displacements or output forces in different specified directions and points of the domain, in response to different excited piezoceramic portions: while minimizing the effects of movement coupling. The method is implemented based on the solid isotropic material with penalization (SIMP) model where fictitious densities are interpolated in each finite element, providing a continuum material distribution in the domain. As examples, designs of a single piezoactuator and an XY nano-positioner actuated by two FGM piezoceramics are considered. The resulting designs are compared with designs considering homogeneous piezoceramics. The present examples are limited to two-dimensional models because most of the applications for such micro-tools are planar devices.

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“…In the area of micro-actuators, several micro-structures [4,5] have been used as the primitive components. These actuators could be utilized in many applications where the application of a force (picoNewtons), in conjunction with their positioning, is needed [6][7][8].…”

Section: Introductionmentioning

confidence: 99%