A Force and Displacement Self-Sensing Piezoelectric MRI-Compatible Tweezer End Effector With an On-Site Calibration Procedure

@article{McPherson2014AFA,
  title={A Force and Displacement Self-Sensing Piezoelectric MRI-Compatible Tweezer End Effector With an On-Site Calibration Procedure},
  author={Timothy McPherson and Jun Ueda},
  journal={IEEE/ASME Transactions on Mechatronics},
  year={2014},
  volume={19},
  pages={755-764}
}
This paper describes a self-sensing technique for a piezoelectrically driven magnetic resonance imaging (MRI)-compatible tweezer style end effector, suitable for robot assisted MRI guided surgery. Nested strain amplification mechanisms are used to amplify the displacement of the piezo actuators to practical levels for robotics. By using a hysteretic piezoelectric model and a two port network model for the compliant nested strain amplifiers, it is shown that force and displacement at the tweezer… CONTINUE READING
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