Two-lead-wire drive for multi-micro actuators [medical micro robots]

摘要

We have proposed a new concept for an active endoscope with hyper redundancy. This medical tool called "Hyper Endoscope" for minimally invasive surgery is driven by miniature cybernetic actuators. A dynamic model of the cybernetic actuator, taking into account its piezoelectric effect, is proposed and its detailed performance analyzed. Based on the result, a new technique to minimize the number of lead wires is proposed and verified experimentally. The frequency modulation velocity control with two lead wires as an analog control method has been perfected.