TY - JOUR
T1 - Hydraulic robotic surgical tool changing manipulator
AU - Pourghodrat, Abolfazl
AU - Nelson, Carl A.
AU - Oleynikov, Dmitry
N1 - Publisher Copyright:
© 2017 by ASME.
PY - 2017/3/1
Y1 - 2017/3/1
N2 - 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.
AB - 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.
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U2 - 10.1115/1.4035548
DO - 10.1115/1.4035548
M3 - Article
C2 - 28450979
AN - SCOPUS:85010443380
SN - 1932-6181
VL - 11
JO - Journal of Medical Devices, Transactions of the ASME
JF - Journal of Medical Devices, Transactions of the ASME
IS - 1
M1 - 011008
ER -