Compact Multiple Functional Integrated Medical Robotic End-Effector for Neurosurgery*

In neurosurgery, surgeons use single-function surgical tools such as aspirator and electric-coagulation cutters to deal with blood vessel bleeding. Compared with multi-functional surgical tools, the surgical efficiency of using single-function tools is lower. In this paper, a multiple functional integrated medical robotic end-effector which integrates CCD imaging, electric-coagulation and suction is designed. The end-effector can be installed at the end of the serial robotic arm. The CAD model of the end-effector was constructed, and the motion analysis is carried out. The end-effector is proved to be effective by three experiments. The operator can use the design to suction blood, spotting of bleeding spots, and electric-coagulation lesion. In operations, there is no need to change the surgical tools, improve the efficiency of the operation.