Hydraulic robotic surgical tool changing manipulator

Abolfazl Pourghodrat, Carl A. Nelson, Dmitry Oleynikov

Research output: Contribution to journalArticle

1 Scopus citations

Abstract

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.

Original languageEnglish (US)
Article number011008
JournalJournal of Medical Devices, Transactions of the ASME
Volume11
Issue number1
DOIs
StatePublished - Mar 1 2017

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ASJC Scopus subject areas

  • Medicine (miscellaneous)
  • Biomedical Engineering

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