Figure 5From: Pneumatic-type surgical robot end-effector for laparoscopic surgical-operation-by-wire Actual surgical instrument. (a) Entire surgical instrument. (b) Zoom in for elbow joint. (c) Zoom in for wrist joint and closed gripper by inflated catheter balloons. The position of the micro motors, several gears, and gripper are presented in this figure. The inflated catheter balloons make gripper close the gripper’s tips by Newton’s 3rd law.Back to article page