Figure 4
From: Pneumatic-type surgical robot end-effector for laparoscopic surgical-operation-by-wire
Design of surgical instrument. (a) Pneumatic gripper. (b) Wrist joint. (c) Elbow joint. Several gears, outer shells, micro motors, and joint link are assembled. This instrument performs elbow, wrist, and gripping motions. The surgical instrument’s length and outer diameter is 300-mm and 8-mm, respectively. Abbreviation: spur gear (SG), spur and bevel gear (SBG), and bevel gear (BG).