Technical Brief

Miniature Fluidic Actuators for Surgical Robotics1

[+] Author and Article Information
Abolfazl Pourghodrat, Carl A. Nelson

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

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), 030920 (Jul 21, 2014) (2 pages) Paper No: MED-14-1071; doi: 10.1115/1.4027041 History: Received February 21, 2014; Revised March 03, 2014

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Copyright © 2014 by ASME
Topics: Actuators , Robotics , Surgery
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Seow, C. M., Chin, W. J., Nelson, C. A., Nakamura, A., Farritor, S. M., and Oleynikov, D., 2013, “Articulated Manipulator With Multiple Instruments for Natural Orifice Transluminal Endoscopic Surgery,” ASME J. Med. Devices, 7(4), p. 041004. [CrossRef]
Wortman, T. D., Meyer, A., Dolghi, O., Lehman, A. C., McCormick, R. L., Farritor, S. M., Oleynikov, D., 2011, “Miniature Surgical Robot for Laparoendoscopic Single-Incision Colectomy,” Surg. Endosc., 25(10), pp. 3453–3458. [CrossRef] [PubMed]
Mondry, J. M., 2012, “Design and Development of a Four Degree of Freedom In-Vivo Surgical Robot for Laparoendoscopic Single-Site Surgery,” Master's thesis, University of Nebraska–Lincoln, Lincoln, NE.
Petroni, G., 2013, “A Novel Robotic System for Single-Port Laparoscopic Surgery: Preliminary Experience,” Surg. Endosc., 27(6), pp. 1932–1937. [CrossRef] [PubMed]
Pourghodrat, A., Nelson, C. A., and Oleynikov, D., 2014, “Electro-Hydraulic Robotic Manipulator With Multiple Instruments for Minimally Invasive Surgery” ASME Design of Medical Devices Conference (DMD), Minneapolis, MN, April 7–10, ASME Paper No. DMD2014-3542 [CrossRef].
Lehman, A. C., 2012, “Miniature In-Vivo Robots for Minimally Invasive Surgery,” Ph.D. dissertation, University of Nebraska– Lincoln, Lincoln, NE.


Grahic Jump Location
Fig. 2

First generation (left) and the second-generation (right) linear actuator

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Fig. 1

Working principle of the linear actuator (left), exploded view (right)

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Fig. 5

Displacement versus pressure

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Fig. 4

Iterations of the laparoscopic grasper

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Fig. 3

Limited-motion vane motor in two states



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