Page 195 - Flexible Robotics in Medicine
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182 Chapter 7
Figure 7.10
Integrated single-port multichannel end-effectors.
As can be seen in Fig. 7.10, the surgical tools used in traditional open surgery can be
integrated with a surgical robot to tap on the power of both humans and robots to achieve a
higher success rate in the surgery.
7.5 Prototype architecture and testing
7.5.1 Overall architecture
After deciding on the details of the actuation principle and the routing methods, this part
focuses on implementing them and integrating them with our electrical setup. We focus on
the need for the preparation of the guides and the overall electromechanical architecture.
Attention is given to the process of receiving the surgeon’s commands and translating it into
robot motion. The complete end-effector comprising of the spring backbone, instrument head,
