Natural orifice transluminal endoscopic surgery (NOTES) is a surgical technique to perform “scarless” abdominal operations. Robotic technology has been exploited to improve NOTES and circumvent its limitations. Lack of a multitasking platform is a major limitation. Manual tool exchange can be time consuming and may lead to complications such as bleeding. Previous multifunctional manipulator designs use electric motors. These designs are bulky, slow, and expensive. This paper presents design, prototyping, and testing of a hydraulic robotic tool changing manipulator. The manipulator is small, fast, low-cost, and capable of carrying four different types of laparoscopic instruments.
Hydraulic Robotic Surgical Tool Changing Manipulator
Manuscript received March 11, 2016; final manuscript received November 29, 2016; published online January 16, 2017. Assoc. Editor: Venketesh Dubey.
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Pourghodrat, A., Nelson, C. A., and Oleynikov, D. (January 16, 2017). "Hydraulic Robotic Surgical Tool Changing Manipulator." ASME. J. Med. Devices. March 2017; 11(1): 011008. https://doi.org/10.1115/1.4035548
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