Surgical Tool-Changing Manipulator

Here we present a robotic tool- changing manipulator capable of carrying 4 different instruments for natural orifice surgery.

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Tool exchange is inevitable in laparoscopic surgery. Manual tool exchange is time consuming and may cause trauma. To overcome this issue, we have developed an electro-hydraulic manipulator that is capable of carrying 4 different surgical instruments. This manipulator is small enough (OD:14 mm, length: 55 mm) to be inserted inside body from natural orifices such as mouth.

Previous designs used miniature electric motors to change and actuate instruments. With electric motors there is always a trade-off between size and robotic capabilities (speed, torque, force). As a result, previous designs are bulky, slow, expensive, not disposable, with the risk of producing heat and leaking electricity. In our design we used a master-slave system. The master system with all electronics would be place ex-vivo, whereas the manipulator with no electronics would work in-vivo. This electro-hydraulic multi-instrument manipulator is much faster and smaller than the previous electric versions.

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Jasmine Brackett wrote 08/06/2014 at 23:44 point
Hello Sina-UNL, now is the time to add a few more details to your project to give it the best chance of going through to the next round of The Hackaday Prize.

By August 20th you must have the following:
- A video. It should be less than 2 minutes long describing your project. Put it on YouTube (or Youku), and add a link to it on your project page. This is done by editing your project (edit link is at the top of your project page) and adding it as an "External Link"
- At least 4 Project Logs
- A system design document
- Links to code repositories, and remember to mention any licenses or permissions needed for your project. For example, if you are using software libraries you need to document that information.

You should also try to highlight how your project is 'Connected' and 'Open' in the details and video.

There are a couple of tutorial video's with more info here:

Good luck!

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