On the Application of Mechanical Vibration in Robotics-Assisted Soft Tissue Intervention

Mechanical vibration as a way of transmitting energy has been an interesting subject to study. While cyclic oscillation is usually associated with fatigue effect, and hence a detrimental factor in failure of structures and machineries, by controlled transmission of vibration, energy can be transferred from the source to the target. In this thesis, the application of such mechanical vibration in a few surgical procedures is demonstrated. Three challenges associated with lung cancer diagnosis and treatment are chosen for this purpose, namely, Motion Compensation, tumor targeting in lung Needle Insertion and Soft Tissue Dissection: A robotic solution is proposed for compensating for the undesirable oscillatory motion of soft tissue (caused by heart beat and respiration) during needle insertion in the lung. An impedance control strategy based on a mechanical vibratory system is implemented to minimize the tissue deformation during needle insertion. A prototype was built to evaluate the proposed approach using: 1) two Mitsubishi PA10-7C robots, one for manipulating the macro part and the other for mimicking the tissue motion, 2) one motorized linear stage to handle the micro part, and 3) a Phantom Omni haptic device for remote manipulation. Experimental results are given to demonstrate the performance of the motion compensation system. A vibration-assisted needle insertion technique has been proposed in order to reduce needle–tissue friction. The LuGre friction model is employed as a basis for the study and the model is extended and analyzed to include the impact of high-frequency vibration on translational friction. Experiments are conducted to evaluate the role of insertion speed as well as vibration frequency on frictional effects. In the experiments conducted, an 18 GA brachytherapy needle was vibrated and inserted into an ex-vivo soft tissue sample using a pair of amplified piezoelectric actuators. Analysis demonstrates that the translational friction can be reduced by introducing a vibratory low-amplitude motion onto a regular insertion profile, which is usually performed at a constant rate. A robotics-assisted articulating ultrasonic surgical scalpel for minimally invasive soft tissue cutting and coagulation is designed and developed. For this purpose, the optimal design of a Langevin transducer with stepped horn profile is presented for internal-body applications. The modeling, optimization and design of the ultrasonic scalpel are performed through equivalent circuit theory and verified by finite element analysis. Moreover, a novel surgical wrist, compatible with the da Vinci® surgical system, with decoupled two degrees-of-freedom (DOFs) is developed that eliminates the strain of pulling cables and electrical wires. The developed instrument is then driven using the dVRK (da Vinci® research kit) and the Classic da Vinci® surgical system

Experiment and simulation validated analytical equivalent circuit model for piezoelectric micromachined ultrasonic transducers

An analytical Mason equivalent circuit is derived for a circular, clamped plate piezoelectric micromachined ultrasonic transducer (pMUT) design in 31 mode, considering an arbitrary electrode configuration at any axisymmetric vibration mode. The explicit definition of lumped parameters based entirely on geometry, material properties, and defined constants enables straightforward and wide-ranging model implementation for future pMUT design and optimization. Beyond pMUTs, the acoustic impedance model is developed for universal application to any clamped, circular plate system, and operating regimes including relevant simplifications are identified via the wave number-radius product ka. For the single-electrode fundamental vibration mode case, sol-gel Pb(Zr[subscript 0.52])Ti[subscript 0.48]O[subscript 3] (PZT) pMUT cells are microfabricated with varying electrode size to confirm the derived circuit model with electrical impedance measurements. For the first time, experimental and finite element simulation results are successfully applied to validate extensive electrical, mechanical, and acoustic analytical modeling of a pMUT cell for wide-ranging applications including medical ultrasound, nondestructive testing, and range finding.Masdar Institute of Science and Technology (Massachusetts Institute of Technology Cooperative Agreement Grant 6923443)National Science Foundation (U.S.). Graduate Research Fellowshi

The influence of piezoceramic stack location on nonlinear behavior of langevin transducers

Power ultrasonic applications such as cutting, welding, and sonochemistry often use Langevin transducers to generate power ultrasound. Traditionally, it has been proposed that the piezoceramic stack of a Langevin transducer should be located in the nodal plane of the longitudinal mode of vibration, ensuring that the piezoceramic elements are positioned under a uniform stress during transducer operation, maximizing element efficiency and minimizing piezoceramic aging. However, this general design rule is often partially broken during the design phase if features such as a support flange or multiple piezoceramic stacks are incorporated into the transducer architecture. Meanwhile, it has also been well documented in the literature that power ultrasonic devices driven at high excitation levels exhibit nonlinear behaviors similar to those observed in Duffing-type systems, such as resonant frequency shifts, the jump phenomenon, and hysteretic regions. This study investigates three Langevin transducers with different piezoceramic stack locations by characterizing their linear and nonlinear vibrational responses to understand how the stack location influences nonlinear behavior

An Analytical Model for a Twisted Beam Piezoelectric Ultrasonic Micromotor

An equivalent circuit, known as a Mason model, is proposed to characterize a novel ultrasonic motor in this study. This motor, which consists of a non-circular cross-section twisted beam and a piezoelectric element, generates coupled longitudinal-torsional vibration upon application of an electric field. The model predictions and experimental data are in good agreement. For example, under the condition of having input voltage of 100 Vpp, and driving frequency of 352.8 kHz, the model predicts a longitudinal velocity of 0.7 m/s compared to the experimental results of 0.65-0.75 m/s. The assumption is that the torsional velocity and longitudinal velocity are in a linear relationship; a proportionality coefficient K=0.259±0.012 is obtained through the experimental data by empirically fitting