TR Motor (Fig.1) has been developed in Toyama Lab. It is a kind of piezoelectoric actuator, and has two degree of freedom (DOF) motions: translation and rotation. Driving principle of the TR Motor A stator of TR motor has been faricated as a cubic metallic solid with a through-hole. And polarized piezoelectric elements are bonded to the four side faces of the stator. By applying alternating voltage to piezoelectric element, traveling waves are generated on the inside of the through hole. The characteristic of TR Motor is the simple single stator. It is easy to manufacture and miniaturize. The advantages of this motor are 1. high positioning accuracy 2. high responsiveness 3. high torque at low speed 4. Usability in the strong magnetic field	Fig.1 TR Motor
a)　The stator   b)The rotor 　　Fig.2 Micro TR Motor
Background Recently, greatly decreasing of mortality rate on surgery makes people hope for improvement of "Quality of Life (QOL)" after the surgery, or recurrence prevention, complication avoidance, and decreasing of the scar,and makes people except improvement or spread of minimally invasive surgery. Now, by going to fuse together Medical Image Processing (for example, CT or MRI), Information Processing, Precision Engineering, intelligence robots have used instead of the manpower. In that situation, TR motor has been expected for the micro-actuator at catheter surgery or surgery assist robot because of high energy density per unit volume, simple structure, and little influence in the strong magnetic field, so TR Motor has been invented.	Fig.3 Outline of catheter surgery

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