1. 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): doi: /
Figure Legend:
Multifunctional manipulator with a grasper (left) and scissors (right) deployed

2. 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): doi: /
Figure Legend:
Instrument cartridge

3. 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): doi: /
Figure Legend:
Piston-instrument assembly

4. 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): doi: /
Figure Legend:
Hydraulic cylinder coupled with a stepper motor

5. 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): doi: /
Figure Legend:
Schematic of the master-slave system