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.
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A Dexterous Surgical Manipulation Tool Using Self-Sensing Magnetoelectric Actuators
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Wang, Y, & Atulasimha, J. "A Dexterous Surgical Manipulation Tool Using Self-Sensing Magnetoelectric Actuators." Proceedings of the 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. pp. 767-771. ASME. https://doi.org/10.1115/SMASIS2010-3692
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