Date of download: 12/30/2017 Copyright © ASME. All rights reserved. Electrohydraulic Robotic Manipulator With Multiple Instruments for Minimally Invasive Surgery1 J. Med. Devices. 2014;8(3):030919-030919-2. doi:10.1115/1.4027040 Figure Legend: Multifunctional manipulator with a grasper (left) and scissors (right) deployed

Date of download: 12/30/2017 Copyright © ASME. All rights reserved. Electrohydraulic Robotic Manipulator With Multiple Instruments for Minimally Invasive Surgery1 J. Med. Devices. 2014;8(3):030919-030919-2. doi:10.1115/1.4027040 Figure Legend: Instrument cartridge

Date of download: 12/30/2017 Copyright © ASME. All rights reserved. Electrohydraulic Robotic Manipulator With Multiple Instruments for Minimally Invasive Surgery1 J. Med. Devices. 2014;8(3):030919-030919-2. doi:10.1115/1.4027040 Figure Legend: Piston-instrument assembly

Date of download: 12/30/2017 Copyright © ASME. All rights reserved. Electrohydraulic Robotic Manipulator With Multiple Instruments for Minimally Invasive Surgery1 J. Med. Devices. 2014;8(3):030919-030919-2. doi:10.1115/1.4027040 Figure Legend: Hydraulic cylinder coupled with a stepper motor

Date of download: 12/30/2017 Copyright © ASME. All rights reserved. Electrohydraulic Robotic Manipulator With Multiple Instruments for Minimally Invasive Surgery1 J. Med. Devices. 2014;8(3):030919-030919-2. doi:10.1115/1.4027040 Figure Legend: Schematic of the master-slave system