Development of the multifunctional end-effector for interventional surgery robot

The end effector working at the end of robot wrist was newly designed to meet the needs of interventional surgery. The end effector has a compact size to be used in the small workspace restricted by the CT bore. Also, radioparent material was applied to the gripper for a better image acquisition. The end effector has the functions of needle insertion, rotation and hold/release for the effective operation.