0
Technical Brief

Electrohydraulic Robotic Manipulator With Multiple Instruments for Minimally Invasive Surgery1

[+] Author and Article Information
Abolfazl Pourghodrat

Department of Mechanical and Materials Engineering,
University of Nebraska–Lincoln,
Lincoln, NE 68508

Carl A. Nelson

Department of Mechanical and Materials Engineering,
University of Nebraska–Lincoln,
Lincoln, NE 68508;
UNMC Center for Advanced Surgical Technology (CAST),
University of Nebraska Medical Center,
Omaha, NE 68198

Dmitry Oleynikov

UNMC Center for Advanced Surgical Technology (CAST),
University of Nebraska Medical Center,
Omaha, NE 68198

Accepted and presented at the Design of Medical Devices Conference (DMD2014), Minneapolis, MN, April 7–10, 2014.

Manuscript received February 21, 2014; final manuscript received March 3, 2014; published online July 21, 2014. Editor: Arthur G. Erdman.

J. Med. Devices 8(3), 030919 (Jul 21, 2014) (2 pages) Paper No: MED-14-1070; doi: 10.1115/1.4027040 History: Received February 21, 2014; Revised March 03, 2014

First Page Preview

View Large
First page PDF preview
FIGURES IN THIS ARTICLE
Copyright © 2014 by ASME
Your Session has timed out. Please sign back in to continue.

References

Figures

Grahic Jump Location
Fig. 1

Multifunctional manipulator with a grasper (left) and scissors (right) deployed

Grahic Jump Location
Fig. 2

Instrument cartridge

Grahic Jump Location
Fig. 3

Piston-instrument assembly

Grahic Jump Location
Fig. 4

Hydraulic cylinder coupled with a stepper motor

Grahic Jump Location
Fig. 5

Schematic of the master-slave system

Tables

Errata

Discussions

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In