Current instruments
unarticulated, single-purpose; Entry point restricts positioning 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.
Shankar Sastry (sastry@robotics.eecs.berkeley.edu) / September
1996.