Current instruments unarticulated, single-purpose; Entry point restricts positioning
Integrated fabrication approach using CNC casting process
Early designs: pneumatics, tendons
Hydraulic pistons, hand with wrist and gripper (4.5 M mpeg movie)
Newer varieties of actuator designs, Detail of actuators and Hall effect sensors .
Sample of Endorobotics, Inc.
laparoscopic manipulator.
Suturing and blunt dissection manipulator . courtesy Endorobotics, Inc.
