Meso∕micro grasping of tiny soft objects such as biological tissues, which ranges from hundreds to thousands of micro-millimeters in dimension, plays a significant role in the fields of tele-surgery, minimally invasive surgery (MIS), and biomedical instrumentation. Recently, the authors proposed a novel piezoelectric forceps actuator (PFA), which is capable of grasping delicate soft objects. One of the advantages of the PFA over conventional MIS forceps lies in that it can be remotely controlled to achieve precision deflection and grasping force. Furthermore, it does not have any moving parts such as gears and hinges, and hence avoids problems in operation like friction, backlash, lubrication, leakage, and sterilization. In this paper, a mathematical model of the PFA is derived, based on which genetic algorithm (GA) is applied to optimize the grasping force-deflection relationship of the actuator. The model developed is experimentally verified on a prototype of the PFA.
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March 2007
Research Papers
Modeling and Design of a Piezoelectric Forceps Actuator for Meso∕Micro Grasping
Ken Susanto,
Ken Susanto
Research Fellow
ASME Member
Department of Aerospace and Mechanical Engineering,
e-mail: ksusanto@verizon.net
University of Southern California
, Los Angeles, CA 90089-1453
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Bingen Yang
Bingen Yang
Professor
Fellow ASME
Department of Aerospace and Mechanical Engineering,
University of Southern California
, Los Angeles, CA 90089-1453
Search for other works by this author on:
Ken Susanto
Research Fellow
ASME Member
Department of Aerospace and Mechanical Engineering,
University of Southern California
, Los Angeles, CA 90089-1453e-mail: ksusanto@verizon.net
Bingen Yang
Professor
Fellow ASME
Department of Aerospace and Mechanical Engineering,
University of Southern California
, Los Angeles, CA 90089-1453J. Med. Devices. Mar 2007, 1(1): 30-37 (8 pages)
Published Online: July 31, 2006
Article history
Received:
March 30, 2006
Revised:
July 31, 2006
Citation
Susanto, K., and Yang, B. (July 31, 2006). "Modeling and Design of a Piezoelectric Forceps Actuator for Meso∕Micro Grasping." ASME. J. Med. Devices. March 2007; 1(1): 30–37. https://doi.org/10.1115/1.2355687
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