Surgical robotics: Multifunctional end effectors for robotic surgery

Several multifunctional forceps-scissors instrument prototypes have been fabricated, and preliminary testing indicates their potential utility in surgical procedures. The advantages provided by multifunctional instruments include reduced instrument exchange time, which may be significant for robotic procedures. In addition, as surgical instruments become smaller,the compliant mechanism approach must be considered to avoid difficulty with assembling tiny links and pin joints.