ICRA'09 Paper Abstract


Paper FrB9.4

Watson, Brett (Monash University), Friend, James Robert (Monash University), Yeo, Leslie (Monash University), Sitti, Metin (Carnegie Mellon University)

Piezoelectric Ultrasonic Resonant Micromotor with a Volume of Less Than 1 mm^3 for Use in Medical Microbots

Scheduled for presentation during the Regular Sessions "Micro/Nano Robotics - II" (FrB9), Friday, May 15, 2009, 11:30−11:50, Room: 501

2009 IEEE International Conference on Robotics and Automation, May 12 - 17, 2009, Kobe, Japan

This information is tentative and subject to change. Compiled on January 21, 2022

Keywords Micro/Nano Robots, Medical Robots and Systems, Mechanism Design


To improve on current methods of minimally invasive surgery, research is being carried out on systems that will permit procedures to be conducted on the micro-scale using remotely operated micro-robots. One of the major stumbling blocks to meeting this need has been the absence of a practical micromotor with a volume of less than 1 mm^3 with which to drive these devices. To rectify this, we present a piezoelectric ultrasonic resonant micromotor with a volume of approximately 0.75 mm^3. The motor uses a novel helically cut stator that matches axial and torsional resonant frequencies, excited by a lead zirconate titanate element 0.03 mm^3 in volume. An earlier motor using the same stator design, but a larger overall volume, achieved a start-up torque of 47 nNm and no load angular velocity of 830 rad/s. This performance is on the order necessary to propel a swimming microbot in small human veins.



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