Conceptual design of a miniaturized hybrid local actuator for Minimally Invasive Robotic Surgery (MIRS) instruments

Abstract

The actuation mechanism of the tip of an endoscopic instrument is a major problem in designing miniature scale motorized instruments, especially when a high level of functionality and multi degrees of freedom (DOF) are concerned. We evaluated the different possible actuation methods for an endoscopic needle holder and proposed a new design of hybrid local… (More)
DOI: 10.1109/IEMBS.2011.6090400

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