Two-Lead-Wire Drive for Multi-Micro Actuators
نویسندگان
چکیده
We have proposed a new concept for an active endoscope with hgper 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. FMVC (lhquency Modulation Velocity Control) with two lead wires as an analog control method has been perfected.
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تاریخ انتشار 1999