MODELING OF AN ELECTROACTIVE STEERABLE END-EFFECTOR FOR MINIMALLY INVASIVE SURGERY

机译：用于微创手术的电控可操纵端部模型

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A model has been developed to design a new active, steerable end-effector for minimally invasive surgery. Active material is incorporated into the surgical instrument to increase the degrees of freedom available to the surgeon. This paper focuses on the modeling of the end-effector using both piezoelectric ceramic and electroactive polymer (EAP) materials. The end-effector design consists of a number of bimorph actuator sections in series with each active layer being individually controlled. Each section may behave as either a bimorph or a unimorph actuator, where in the case of unimorph one of the active layers is passive. By varying the strength and direction of the electric field across each section, a prescribed overall shape can be achieved to allow the user to steer the device. The piezoceramic device is modeled using strain energy methods to predict the quasi-static force-deflection behavior. In the EAP model, experimental data for the electrostrictive P(VDF-TrFE) copolymer is used to model the non-linear relationship between the electric field and the induced strain. Due to the large deflections achievable with the EAP, a model for large deflections beams is also used. Modeling is carried out using MATLAB and then the behavior of piezoelectric ceramic is compared to that of electro-active polymer (EAP).

机译：已经开发出一种模型来设计用于微创手术的新型主动，可转向末端执行器。活性材料被并入手术器械中以增加外科医生可用的自由度。本文着重于使用压电陶瓷和电活性聚合物（EAP）材料对末端执行器进行建模。末端执行器设计由多个双压电晶片执行器部分组成，每个有源层均受到单独控制。每个部分都可以充当双压电晶片或单压电晶片致动器，其中在单压电晶片的情况下，有源层之一是无源的。通过改变每个部分的电场强度和方向，可以达到规定的整体形状，以使用户能够操纵设备。使用应变能方法对压电陶瓷器件进行建模，以预测准静态力-偏转行为。在EAP模型中，电致伸缩P（VDF-TrFE）共聚物的实验数据用于模拟电场与感应应变之间的非线性关系。由于EAP可实现大挠度，因此还使用了大挠度梁的模型。使用MATLAB进行建模，然后将压电陶瓷的性能与电活性聚合物（EAP）的性能进行比较。

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来源
《2001 ASME Design Engineering Technical Conferences and Computers and Information in Engineering Conference Vol.2: 27th Design Automation Conference, 2001, 2001》|2001年|p.451-458|共8页
会议地点 Pittsburgh PA(US);Pittsburgh PA(US);Pittsburgh PA(US);Pittsburgh PA(US)
作者
William M. Aguilera; Mary I. Frecker; Randy Haluck;
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Penn State University Department of Mechanical and Nuclear Engineering 332 Leonhard Building University Park, PA 16803;

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正文语种 eng
中图分类机械、仪表工业;
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4. MODELING OF AN ELECTROACTIVE STEERABLE END-EFFECTOR FOR MINIMALLY INVASIVE SURGERY [C] . William M. Aguilera, Mary I. Frecker, Randy Haluck ASME Design Engineering Technical Conferences and Computers and Information in Engineering Conference . 2001

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MODELING OF AN ELECTROACTIVE STEERABLE END-EFFECTOR FOR MINIMALLY INVASIVE SURGERY

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