Multi Degrees of Freedom Forceps for Ultrasonically Activated Device using Ultrasonic Motor

We have developed multi degrees of freedom forceps which has one degree of bending and one degree of tip rotation freedom for small USAD. Especially, we developed a ultrasonic motor for rotation mechanism, which has various merits of small size and high- torque. For actuation mechanism, we selected cylinder-type ultrasonic motor. Bulk piezoelectric zirconate titanate (PZT) cylinder was used as a stator transducer. Inner diameter and outer diameter of the actuator was 13 mm and 14 mm and length was 25 mm.In rotation property evaluation experiment, we confirmed that the actuator has sufficient rotation speed and holding torque. From positioning experiment, we have achieved smooth approach to the brood vessel model using the mechanism.