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DESIGN, MODELING AND ANALYSIS OF
PIEZOELECTRIC FORCEPS ACTUATOR
by
Ken Suwarno Susanto
A Dissertation Presented to the
FACULTY OF THE GRADUATE SCHOOL
UNIVERSITY OF SOUTHERN CALIFORNIA
In Partial Fulfillment of the
Requirements for the Degree
DOCTOR OF PHILOSOPHY
(MECHANICAL ENGINEERING)
May 2007
Copyright 2007 Ken Suwarno Susanto
Object Description
| Title | Design, modeling and analysis of piezoelectric forceps actuator |
| Author | Susanto, Ken Suwarno |
| Author email | ksusanto@verizon.net |
| Degree | Doctor of Philosophy |
| Document type | Dissertation |
| Degree program | Mechanical Engineering |
| School | Viterbi School of Engineering |
| Date defended/completed | 2006-11-13 |
| Date submitted | 2007 |
| Restricted until | Unrestricted |
| Date published | 2007-02-01 |
| Advisor (committee chair) | Yang, Bingen |
| Advisor (committee member) |
Ioannou, Petros A. Flashner, Henryk Jin, Yan Shiflett, Geoffrey R. |
| Abstract | Meso/micro grasping of tiny soft objects such as biological tissues or biopsy, which ranges from hundreds to thousands micro-millimeters in dimension, plays a significant role in the fields of tele-surgery, minimally invasive surgery (MIS), and biomedical instrumentation. In this dissertation, a proposed novel piezoelectric forceps actuator (PFA) is fabricated to improve one of the existing surgery tools used in MIS. 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. A new general piezoelectric laminated slightly curved beam model is derived to predict the natural frequencies of the PFA, and verified with experimental results. By setting the curvature of the proposed model to zero (i.e., the radius of curvature goes to infinity) and neglecting stretch-bend couple, a piezoelectric laminated straight beam model can be derived. With a distributed transfer function formulation for the proposed models, the effects of the layer number, the layer thickness and the bending stiffness on natural frequencies, deflection, bending moment and output force of the system can be investigated. Based on solid mechanics and Castiliagno's theorems, radius of curvature displacement and grasping force models of the PFA is derived and verified with experimental results. Finally, the control system formulations of the PFA based on the distributed transfer function method (DTFM) and Rayleigh-Ritz method are provided to show the usefulness of the proposed models for further used in control system design and analysis. |
| Keyword | piezoelectric actuator; piezoelectric forceps; medical device; minimum invasive surgery; medical forceps; robot gripper; composite piezoelectric laminated beams; composite piezoelectric lamina |
| Language | English |
| Part of collection | University of Southern California dissertations and theses |
| Publisher (of the original version) | University of Southern California |
| Place of publication (of the original version) | Los Angeles, California |
| Publisher (of the digital version) | University of Southern California. Libraries |
| Type | texts |
| Legacy record ID | usctheses-m236 |
| Contributing entity | University of Southern California |
| Rights | Susanto, Ken Suwarno |
| Repository name | Libraries, University of Southern California |
| Repository address | Los Angeles, California |
| Repository email | cisadmin@dots.usc.edu |
| Filename | etd-Susanto-20070201 |
| Archival file | uscthesesreloadpub_Volume17/etd-Susanto-20070201.pdf |
Description
| Title | Page 1 |
| Contributing entity | University of Southern California |
| Repository email | cisadmin@dots.usc.edu |
| Full text | DESIGN, MODELING AND ANALYSIS OF PIEZOELECTRIC FORCEPS ACTUATOR by Ken Suwarno Susanto A Dissertation Presented to the FACULTY OF THE GRADUATE SCHOOL UNIVERSITY OF SOUTHERN CALIFORNIA In Partial Fulfillment of the Requirements for the Degree DOCTOR OF PHILOSOPHY (MECHANICAL ENGINEERING) May 2007 Copyright 2007 Ken Suwarno Susanto |
