Preliminary Characterization of a Plastic Piezoelectric Motor Stator Using High-Speed Digital Holographic Interferometry

Abstract

Precise surgical procedures such as deep brain tumor ablation may benefit from intra-operative image guidance using magnetic resonance imaging (MRI). However, the MRI’s strong magnetic fields and constrained space pose the need for robotic devices to assist the surgeon. Piezoelectric motors are often used to actuate these robots. The piezoelectric resonant motor (PRM) is a class of such motors that consist of a bonded piezoelectric ring stator and a frictionally coupled rotor. Steady-state excitation at certain frequencies leads to specific mode shapes on the stator with surface waves having both in-plane and out-of-plane displacement components that cause the coupled rotor to spin. High-speed digital holography (HDH) can be used to measure time variant displacements with nanometer and microsecond resolution. We present initial measurements acquired at 67 k frame per second (fps) of two custom-designed plastic stator components operating at drive frequencies of 6.788 kHz and 6.980 kHz, respectively. Circumferential motion of the traveling surface waves with out-of-plane peak-to-peak displacement of approximately 100 nm peak-to-peak amplitude and a settling time of 2.99 ms was observed. Results demonstrate that plastic stators may be a promising alternative to metallic stators for use in the MRI environment.