A 240-μm diameter ultrasonic micromotor is presented as a potential solution for an especially difficult task in minimally invasive neurosurgery, navigating a guidewire to an injury in the neurovasculature as the first step of surgery. The peak no-load angular velocity and maximum torque were 600 rad/s and 1.6 nN-m, respectively, and we obtained rotation about all three axes. By using a burst drive scheme, open-loop position and speed control were achieved. The construction method and control scheme proposed in this study remove most of the current limitations in minimally invasive, catheter-based actuation, enabling minimally invasive vascular surgery concepts to be pursued for a broad variety of applications.
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See supplementary material at http://dx.doi.org/10.1063/1.3702579 for information on laser Doppler vibrometry used to determine the vibration shapes of the stator in this motor prototype as it undergoes different driving configurations.
© 2012 American Institute of Physics.
2012
American Institute of Physics
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