Technical Brief

Precision Control of Piezoelectric Ultrasonic Motor for Myringotomy With Tube Insertion

[+] Author and Article Information
Kok Kiong Tan, Le Phuong Pham

Department of Electrical and Computer Engineering,
National University of Singapore,
Singapore 117576

Wenyu Liang

Department of Electrical and Computer Engineering,
National University of Singapore,
Singapore 117576
e-mail: liangwenyu@nus.edu.sg

Sunan Huang

Temasek Laboratories,
National University of Singapore,
Singapore 117411

Silu Chen

Singapore Institute of Manufacturing Technology,
Singapore 638075

Chee Wee Gan, Hsueh Yee Lim

Department of Otolaryngology,
National University of Singapore,
Singapore 119228

1Corresponding author.

Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received June 25, 2014; final manuscript received December 16, 2014; published online February 4, 2015. Assoc. Editor: M. Porfiri.

J. Dyn. Sys., Meas., Control 137(6), 064504 (Jun 01, 2015) (7 pages) Paper No: DS-14-1266; doi: 10.1115/1.4029409 History: Received June 25, 2014; Revised December 16, 2014; Online February 04, 2015

The current treatment of otitis media with effusion (OME) when medication fails is to surgically insert a grommet tube in the tympanic membrane. A novel precision surgical device has been developed, which allows tube insertion to be accomplished in an office setting. The device leverages on a piezoelectric ultrasonic motor (USM) stage to facilitate the motion sequences for the procedures. The core engine of the device is in the USM motion controller to achieve the high precision, fast response, and repeatability necessary to allow these medical procedures to be efficiently and successfully done with minimum trauma to the patient. This paper focuses on the controller design for the USM to meet the unique set of specifications to apply the surgical device optimally on patient with OME. A model of the USM is first built and identified. A proportional-integral-derivative (PID) controller is used as the main tracking controller with the parameters derived optimally using an linear-quadratic regulator (LQR)-assisted tuning approach. A sign function compensator acts to remove nonlinear dynamics due mainly to friction and a sliding mode controller further rejects remnant uncertainty and disturbance. The experimental results show that the constituent control components fulfill their respective functions well, and collectively, the composite controller is effective toward delivering the level of control performance to meet the objectives for the medical procedures.

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Fig. 1

Myringotomy with grommet insertion [3]. (a) Eardrum, (b) myringotomy, and (c) grommet insertion.

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Fig. 2

System architecture

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Fig. 3

Incision length requirements for grommet insertion. (a) The 1.6 mm incision and (b) the 1.4 mm incision.

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Fig. 5

Relation between the input and the velocity output

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Fig. 6

Input signals and open-loop response

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Fig. 7

Comparison of the simulated and actual measured outputs

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Fig. 8

Comparisons of the simulated and actual measured outputs while using other signals

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Fig. 9

Control system for USM

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Fig. 12

Error with a square wave reference

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Fig. 11

Position control performance with a square wave reference

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Fig. 14

Errors associated with different controllers

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Fig. 13

Error with a sine wave reference (20 Hz)

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Fig. 15

Errors associated with the composite controller without or with sliding mode control law (with disturbance)



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