Research Papers

Hydraulic Robotic Surgical Tool Changing Manipulator

[+] Author and Article Information
Abolfazl Pourghodrat

Department of Mechanical
and Materials Engineering,
University of Nebraska-Lincoln,
W342 Nebraska Hall,
Lincoln, NE 68588-0526
e-mail: a.pourghodrat@gmail.com

Carl A. Nelson

Department of Mechanical
and Materials Engineering,
University of Nebraska-Lincoln,
W342 Nebraska Hall,
Lincoln, NE 68588-0526
e-mail: cnelson5@unl.edu

Dmitry Oleynikov

Department of Surgery,
University of Nebraska Medical Center,
986245 Nebraska Medical Center,
Omaha, NE 68198
e-mail: doleynik@unmc.edu

1Corresponding author.

Manuscript received March 11, 2016; final manuscript received November 29, 2016; published online January 16, 2017. Assoc. Editor: Venketesh Dubey.

J. Med. Devices 11(1), 011008 (Jan 16, 2017) (6 pages) Paper No: MED-16-1193; doi: 10.1115/1.4035548 History: Received March 11, 2016; Revised November 29, 2016

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.

Copyright © 2017 by ASME
Your Session has timed out. Please sign back in to continue.



Grahic Jump Location
Fig. 1

Robotic surgical tool changing manipulator with a grasper (left) and scissors (right) deployed

Grahic Jump Location
Fig. 2

Instrument cartridge [16]

Grahic Jump Location
Fig. 3

Piston-instrument assembly [16]

Grahic Jump Location
Fig. 4

Scissor-piston assembly model

Grahic Jump Location
Fig. 5

Grasper force analysis

Grahic Jump Location
Fig. 6

Pinch force versus angular opening

Grahic Jump Location
Fig. 7

Water pressure versus angular opening

Grahic Jump Location
Fig. 8

Master–slave system

Grahic Jump Location
Fig. 9

Hydraulic cylinder coupled with a stepper motor [16]

Grahic Jump Location
Fig. 10

Schematic of the master–slave system [16]




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