Fig. 3From: A development of assistant surgical robot system based on surgical-operation-by-wire and hands-on-throttle-and-stickDesign of the proposed surgical instrument. The gripping motion is achieved by converting the micro motor’s rotation motion into linear motion by male and female screw and linking the gripper with the female screw through the linkage. The length and the diameter of the surgical instrument is designed as 300 mm and 6 mm, respectivelyBack to article page