Figure 9From: Pneumatic-type surgical robot end-effector for laparoscopic surgical-operation-by-wire Compressed air flow by valve mechanism. (a) Inflow. (b) Stay. (c) Outflow. Three compressed air flow statuses are controlled by SV1 and SV2 between the compressor and the catheter balloons. Abbreviation: solenoid valve (SV).Back to article page