Figure 1From: Pneumatic-type surgical robot end-effector for laparoscopic surgical-operation-by-wire Control block diagram and experimental flow of the overall system. (a) Interface for surgeon. (b) External arm. (c) Pneumatic gripper system. (d) Surgical instrument. (e) Gripping force measurement system using data acquisition (DAQ) board. All hardware is controlled using the LabVIEW® software based on the state machine structure.Back to article page