A piezoelectric microactuator for minimally invasive surgery procedures was developed using the piezoelectric tube actuator. The tube was fabricated by electrophoretic deposition of a doped PZT powders on the graphite rod substrate and co-sintering. The obtained tube shows maximum strain 0.045% in 31 mode and coercive field 1.5 kV/mm under static condition. Under dynamic condition, bending and longitudinal vibration modes can be identified from impedance spectrum and simulation. Theoretical analysis indicates that the displacement of the two modes depends on the geometry, material property, driving condition and damping conditions. The developed device uses bending mode to create rotation mechanical motion, and longitudinal mode to produce ultrasonic energy to soften and break up the target into fragments.